TY  - JOUR
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
AU  - Mitrović, Stefan
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7136
AB  - The application of new additive technologies is based on models STL models of prototypes that will be build. This paper discusses two additive technologies: Fused Deposition Modeling – FDM and Laser Metal Directed Energy Deposition – Laser DED in terms of program preparation and its verification by simulation of material addition, i.e. machine simulation for these procedures. The paper presents the programming and program verification using machine simulation of additive manufacturing tool path in CAD/CAM and Vericut environment. A procedure for configuring and preparing of a virtual machine for several additive process simulations has been proposed. Simulation is a key technology for program verification. Machine simulation and digital twin are the primary simulation–based approaches in the context of the Industry 4.0. The paper analyzes the available programming software for generating G code from the STL file as well as the possibility of simulating the virtual machine when working according to the generated program.
PB  - University POLITEHNICA Timisoara, Faculty of Engineering Hunedoara
T2  - ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering, October – December,  2022
T1  - Machine simulation of additive manufacturing tool path
IS  - 4
VL  - XV
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7136
ER  - 

@article{
author = "Živanović, Saša and Vorkapić, Nikola and Mitrović, Stefan",
year = "2022",
abstract = "The application of new additive technologies is based on models STL models of prototypes that will be build. This paper discusses two additive technologies: Fused Deposition Modeling – FDM and Laser Metal Directed Energy Deposition – Laser DED in terms of program preparation and its verification by simulation of material addition, i.e. machine simulation for these procedures. The paper presents the programming and program verification using machine simulation of additive manufacturing tool path in CAD/CAM and Vericut environment. A procedure for configuring and preparing of a virtual machine for several additive process simulations has been proposed. Simulation is a key technology for program verification. Machine simulation and digital twin are the primary simulation–based approaches in the context of the Industry 4.0. The paper analyzes the available programming software for generating G code from the STL file as well as the possibility of simulating the virtual machine when working according to the generated program.",
publisher = "University POLITEHNICA Timisoara, Faculty of Engineering Hunedoara",
journal = "ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering, October – December,  2022",
title = "Machine simulation of additive manufacturing tool path",
number = "4",
volume = "XV",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7136"
}

Živanović, S., Vorkapić, N.,& Mitrović, S.. (2022). Machine simulation of additive manufacturing tool path. in ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering, October – December,  2022
University POLITEHNICA Timisoara, Faculty of Engineering Hunedoara., XV(4).
https://hdl.handle.net/21.15107/rcub_machinery_7136

Živanović S, Vorkapić N, Mitrović S. Machine simulation of additive manufacturing tool path. in ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering, October – December,  2022. 2022;XV(4).
https://hdl.handle.net/21.15107/rcub_machinery_7136 .

Živanović, Saša, Vorkapić, Nikola, Mitrović, Stefan, "Machine simulation of additive manufacturing tool path" in ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering, October – December,  2022, XV, no. 4 (2022),
https://hdl.handle.net/21.15107/rcub_machinery_7136 .

TY  - CONF
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
AU  - Mitrović, Stefan
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4608
AB  - The paper presents the programming and program verification using machine simulation of additive manufacturing tool path in CAD/CAM and Vericut environment. A procedure for configuring and preparing of a virtual machine for several additive process simulations has been proposed. The paper analyzes the available programming software for generating G code from the STL file as well as the possibility of simulating the virtual machine when working according to the generated program.
PB  - UNIVERSITY OF BELGRADE Faculty of Mechanical Engineering
C3  - Machine design in the context of Industry 4.0 – Intelligent products
T1  - Machine simulation of additive manufacturing tool path
EP  - 217
SP  - 211
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4608
ER  - 

@conference{
author = "Živanović, Saša and Vorkapić, Nikola and Mitrović, Stefan",
year = "2022",
abstract = "The paper presents the programming and program verification using machine simulation of additive manufacturing tool path in CAD/CAM and Vericut environment. A procedure for configuring and preparing of a virtual machine for several additive process simulations has been proposed. The paper analyzes the available programming software for generating G code from the STL file as well as the possibility of simulating the virtual machine when working according to the generated program.",
publisher = "UNIVERSITY OF BELGRADE Faculty of Mechanical Engineering",
journal = "Machine design in the context of Industry 4.0 – Intelligent products",
title = "Machine simulation of additive manufacturing tool path",
pages = "217-211",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4608"
}

Živanović, S., Vorkapić, N.,& Mitrović, S.. (2022). Machine simulation of additive manufacturing tool path. in Machine design in the context of Industry 4.0 – Intelligent products
UNIVERSITY OF BELGRADE Faculty of Mechanical Engineering., 211-217.
https://hdl.handle.net/21.15107/rcub_machinery_4608

Živanović S, Vorkapić N, Mitrović S. Machine simulation of additive manufacturing tool path. in Machine design in the context of Industry 4.0 – Intelligent products. 2022;:211-217.
https://hdl.handle.net/21.15107/rcub_machinery_4608 .

Živanović, Saša, Vorkapić, Nikola, Mitrović, Stefan, "Machine simulation of additive manufacturing tool path" in Machine design in the context of Industry 4.0 – Intelligent products (2022):211-217,
https://hdl.handle.net/21.15107/rcub_machinery_4608 .

TY  - CONF
AU  - Vidaković, Jelena
AU  - Lazarević, Mihailo
AU  - Živković, Nikola Lj.
AU  - Stepanić, Pavle
AU  - Mitrović, Stefan
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4081
AB  - Dynamics play a fundamental role in control algorithms synthesis, mechanical structure
design, and motion simulation of robots. The challenge in robot control arises from the nonstationarity and the nonlinear coupling effects in the dynamic model, and many advanced
control strategies have emerged within the robot control problem [1]. Besides the modelling
complexity in the case of multiple DoFs, taking the dynamic model into account within the
design of robot control systems in practice has drawbacks due to potential difficulties in
implementation and errors that stem from structured/unstructured uncertainties. From the
perspective of the appropriate selection of control strategy for a particular robot, control system
performance simulation based on the robot dynamic model is a useful tool [2].
In this paper, a numerical simulation of the computed torque control (CTC) for the 6DoF
industrial robot RL15 is presented. CTC is a feedforward control method used for tracking of
robot’s time-varying trajectories in the presence of varying loads [3]. The method implemented
in this study considers the speed PI controller in the joint space of the robot, with feedforward
compensation of the load torque due to the movement of interconnected robot links. Herein,
the following is taken into account for realistic simulation of control system performance: 1)
resonant properties of the mechanical structure; 2) the effective inertia of the actuator
calculated from the inverse dynamic model; 3) motor torque limits. CTC-based control system
performance is compared with the traditional speed PI controller using the realistic simulation
model.
A dynamic model was developed using the modified recursive Newton-Euler algorithm
(mRNEA). Firstly solution to the inverse dynamics problem has been calculated for the desired
joint trajectories. Obtained actuators’ torques are compared with maximum torques that motors
can achieve, and in a case that these maximum levels have been exceeded, unachievable
torques/forces are replaced with the maximum/minimum possible, and forward dynamics
algorithm has been executed in order to calculate achievable accelerations so that the performed
simulation is realistic. Joints’ velocities and positions are calculated using numerical
integration methods [4] and are used as reference values for control system performance
simulation.
The structural flexibility of robotic manipulators may limit the performance and decrease
the stability of a rigid model-based design of a control system. Given that the rigid modelbased
control strategies are adopted in this study, flexibilities of the mechanical structure are
considered indirectly through the limitation of controller gains for simulation purposes. CAE
software is used for the determination of manipulator dynamic model parameters. For the
developed CAD model of the RL15 robot, the lowest natural frequency of the manipulator is
determined in CAE software and compared with simulated control system bandwidths defined
by controller gains and the effective inertia obtained from numerical simulations of the dynamic model and inertia of employed motors and its gearboxes.
Control system performance simulation has been performed in Simulink software.
Controller gains are selected for the LTI-model with the highest load, i.e. the maximum value
of effective inertia. Dynamic saturation that takes into account motor possibilities depending
on the current robot motion and load has been applied at the controller output. Simulation of the designed control techniques is useful within the appropriate choice of the control strategy regarding achieving a compromise between the complexity of the controller development and its implementation on one side and prospective benefits obtained with controller implementation. Practical implementation possibilities are discussed within the paper.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.
T1  - Computed torque control simulation for 6DOF industrial robot
EP  - 110
SP  - 109
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4081
ER  - 

@conference{
author = "Vidaković, Jelena and Lazarević, Mihailo and Živković, Nikola Lj. and Stepanić, Pavle and Mitrović, Stefan",
year = "2022",
abstract = "Dynamics play a fundamental role in control algorithms synthesis, mechanical structure
design, and motion simulation of robots. The challenge in robot control arises from the nonstationarity and the nonlinear coupling effects in the dynamic model, and many advanced
control strategies have emerged within the robot control problem [1]. Besides the modelling
complexity in the case of multiple DoFs, taking the dynamic model into account within the
design of robot control systems in practice has drawbacks due to potential difficulties in
implementation and errors that stem from structured/unstructured uncertainties. From the
perspective of the appropriate selection of control strategy for a particular robot, control system
performance simulation based on the robot dynamic model is a useful tool [2].
In this paper, a numerical simulation of the computed torque control (CTC) for the 6DoF
industrial robot RL15 is presented. CTC is a feedforward control method used for tracking of
robot’s time-varying trajectories in the presence of varying loads [3]. The method implemented
in this study considers the speed PI controller in the joint space of the robot, with feedforward
compensation of the load torque due to the movement of interconnected robot links. Herein,
the following is taken into account for realistic simulation of control system performance: 1)
resonant properties of the mechanical structure; 2) the effective inertia of the actuator
calculated from the inverse dynamic model; 3) motor torque limits. CTC-based control system
performance is compared with the traditional speed PI controller using the realistic simulation
model.
A dynamic model was developed using the modified recursive Newton-Euler algorithm
(mRNEA). Firstly solution to the inverse dynamics problem has been calculated for the desired
joint trajectories. Obtained actuators’ torques are compared with maximum torques that motors
can achieve, and in a case that these maximum levels have been exceeded, unachievable
torques/forces are replaced with the maximum/minimum possible, and forward dynamics
algorithm has been executed in order to calculate achievable accelerations so that the performed
simulation is realistic. Joints’ velocities and positions are calculated using numerical
integration methods [4] and are used as reference values for control system performance
simulation.
The structural flexibility of robotic manipulators may limit the performance and decrease
the stability of a rigid model-based design of a control system. Given that the rigid modelbased
control strategies are adopted in this study, flexibilities of the mechanical structure are
considered indirectly through the limitation of controller gains for simulation purposes. CAE
software is used for the determination of manipulator dynamic model parameters. For the
developed CAD model of the RL15 robot, the lowest natural frequency of the manipulator is
determined in CAE software and compared with simulated control system bandwidths defined
by controller gains and the effective inertia obtained from numerical simulations of the dynamic model and inertia of employed motors and its gearboxes.
Control system performance simulation has been performed in Simulink software.
Controller gains are selected for the LTI-model with the highest load, i.e. the maximum value
of effective inertia. Dynamic saturation that takes into account motor possibilities depending
on the current robot motion and load has been applied at the controller output. Simulation of the designed control techniques is useful within the appropriate choice of the control strategy regarding achieving a compromise between the complexity of the controller development and its implementation on one side and prospective benefits obtained with controller implementation. Practical implementation possibilities are discussed within the paper.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.",
title = "Computed torque control simulation for 6DOF industrial robot",
pages = "110-109",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4081"
}

Vidaković, J., Lazarević, M., Živković, N. Lj., Stepanić, P.,& Mitrović, S.. (2022). Computed torque control simulation for 6DOF industrial robot. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.
Univerzitet u Beogradu, Mašinski fakultet., 109-110.
https://hdl.handle.net/21.15107/rcub_machinery_4081

Vidaković J, Lazarević M, Živković NL, Stepanić P, Mitrović S. Computed torque control simulation for 6DOF industrial robot. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.. 2022;:109-110.
https://hdl.handle.net/21.15107/rcub_machinery_4081 .

Vidaković, Jelena, Lazarević, Mihailo, Živković, Nikola Lj., Stepanić, Pavle, Mitrović, Stefan, "Computed torque control simulation for 6DOF industrial robot" in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022. (2022):109-110,
https://hdl.handle.net/21.15107/rcub_machinery_4081 .

TY  - CONF
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Rakić, Aleksandar
AU  - Knežević, Mladen
AU  - Mitrović, Stefan
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4721
AB  - This paper presents an open architecture control system for multi‐axis wood computer numerical
control (CNC) milling machining centre, based on LinuxCNC. The wood CNC machining system is
supported by an equivalent virtual machine in a CAD/CAM environment, as well as in the control
system. Simulation within virtual environment is essential for multi‐axis machining, and the developed virtual machines are used for program verification and monitoring of the machining
process. The virtual machine in the programming system allows the verification of the program
before it’s sent to the actual machine, while the virtual machine in the control system represents the final verification of the program, as well as the process monitoring system. Configuration of the
control system and implementation of virtual machines will be shown, along with the conducted
machining experiments that ensued after the successful simulation on developed virtual machines.
PB  - Faculty of Mechanical Engineering University of Banja Luka
C3  - 15th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2021
T1  - An open architecture control system for multi-axis wood CNC machining center
EP  - 119
SP  - 113
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4721
ER  - 

@conference{
author = "Živanović, Saša and Dimić, Zoran and Rakić, Aleksandar and Knežević, Mladen and Mitrović, Stefan",
year = "2021",
abstract = "This paper presents an open architecture control system for multi‐axis wood computer numerical
control (CNC) milling machining centre, based on LinuxCNC. The wood CNC machining system is
supported by an equivalent virtual machine in a CAD/CAM environment, as well as in the control
system. Simulation within virtual environment is essential for multi‐axis machining, and the developed virtual machines are used for program verification and monitoring of the machining
process. The virtual machine in the programming system allows the verification of the program
before it’s sent to the actual machine, while the virtual machine in the control system represents the final verification of the program, as well as the process monitoring system. Configuration of the
control system and implementation of virtual machines will be shown, along with the conducted
machining experiments that ensued after the successful simulation on developed virtual machines.",
publisher = "Faculty of Mechanical Engineering University of Banja Luka",
journal = "15th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2021",
title = "An open architecture control system for multi-axis wood CNC machining center",
pages = "119-113",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4721"
}

Živanović, S., Dimić, Z., Rakić, A., Knežević, M.,& Mitrović, S.. (2021). An open architecture control system for multi-axis wood CNC machining center. in 15th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2021
Faculty of Mechanical Engineering University of Banja Luka., 113-119.
https://hdl.handle.net/21.15107/rcub_machinery_4721

Živanović S, Dimić Z, Rakić A, Knežević M, Mitrović S. An open architecture control system for multi-axis wood CNC machining center. in 15th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2021. 2021;:113-119.
https://hdl.handle.net/21.15107/rcub_machinery_4721 .

Živanović, Saša, Dimić, Zoran, Rakić, Aleksandar, Knežević, Mladen, Mitrović, Stefan, "An open architecture control system for multi-axis wood CNC machining center" in 15th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2021 (2021):113-119,
https://hdl.handle.net/21.15107/rcub_machinery_4721 .

TY  - JOUR
AU  - Jakovljević, Živana
AU  - Lesi, Vuk
AU  - Mitrović, Stefan M.
AU  - Pajić, Miroslav
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3412
AB  - Recent trends in manufacturing require the use of reconfigurable equipment that facilitates rapid and cost-effective change of functionality through modular design, which supports fast integration. Intelligent devices (e.g., sensors, actuators) with integrated computation and communication capabilities enable high-level modularity, not only with the respect to hardware components but also in terms of control functionality; this can be achieved by distributing control to different network-connected devices. Thus, to enable fast and reliable system reconfigurations, in this brief, we introduce a method for distribution of control tasks and generation of control code for the devices in the control network. Our approach is based on the control interpreted Petri nets (CIPNs) formalism. We start from a CIPN capturing the centralized (overall) control system, and the mapping of input and output signals to local controllers (LCs) (i.e., smart devices) that have direct physical access to system sensors and actuators. From these, our method automatically designs distributed control tasks for LCs in the network, as well as generates control code for each LC. The applicability of the proposed method is experimentally verified on two real-world case studies.
PB  - IEEE - Inst Electrical Electronics Engineers
T2  - IEEE Transactions on Control Systems Technology
T1  - Distributing Sequential Control for Manufacturing Automation Systems
EP  - 1594
IS  - 4
SP  - 1586
VL  - 28
DO  - 10.1109/TCST.2019.2912776
ER  - 

@article{
author = "Jakovljević, Živana and Lesi, Vuk and Mitrović, Stefan M. and Pajić, Miroslav",
year = "2020",
abstract = "Recent trends in manufacturing require the use of reconfigurable equipment that facilitates rapid and cost-effective change of functionality through modular design, which supports fast integration. Intelligent devices (e.g., sensors, actuators) with integrated computation and communication capabilities enable high-level modularity, not only with the respect to hardware components but also in terms of control functionality; this can be achieved by distributing control to different network-connected devices. Thus, to enable fast and reliable system reconfigurations, in this brief, we introduce a method for distribution of control tasks and generation of control code for the devices in the control network. Our approach is based on the control interpreted Petri nets (CIPNs) formalism. We start from a CIPN capturing the centralized (overall) control system, and the mapping of input and output signals to local controllers (LCs) (i.e., smart devices) that have direct physical access to system sensors and actuators. From these, our method automatically designs distributed control tasks for LCs in the network, as well as generates control code for each LC. The applicability of the proposed method is experimentally verified on two real-world case studies.",
publisher = "IEEE - Inst Electrical Electronics Engineers",
journal = "IEEE Transactions on Control Systems Technology",
title = "Distributing Sequential Control for Manufacturing Automation Systems",
pages = "1594-1586",
number = "4",
volume = "28",
doi = "10.1109/TCST.2019.2912776"
}

Jakovljević, Ž., Lesi, V., Mitrović, S. M.,& Pajić, M.. (2020). Distributing Sequential Control for Manufacturing Automation Systems. in IEEE Transactions on Control Systems Technology
IEEE - Inst Electrical Electronics Engineers., 28(4), 1586-1594.
https://doi.org/10.1109/TCST.2019.2912776

Jakovljević Ž, Lesi V, Mitrović SM, Pajić M. Distributing Sequential Control for Manufacturing Automation Systems. in IEEE Transactions on Control Systems Technology. 2020;28(4):1586-1594.
doi:10.1109/TCST.2019.2912776 .

Jakovljević, Živana, Lesi, Vuk, Mitrović, Stefan M., Pajić, Miroslav, "Distributing Sequential Control for Manufacturing Automation Systems" in IEEE Transactions on Control Systems Technology, 28, no. 4 (2020):1586-1594,
https://doi.org/10.1109/TCST.2019.2912776 . .

TY  - CONF
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Vorkapić, Nikola
AU  - Mitrović, Stefan
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4611
AB  - In this paper, a mini CNC machine tool with three translational axis and openarchitecture
control system is being considered. Existing CAD/CAM software
environment was used in order to create adequate corresponding virtual machine and
to enable CNC program development and testing for the specific platform. Prototype of
the machine was made utilizing parts salvaged from multiple CD/DVD drives. Control
system hardware is realized in two ways: based on PC platform and based on Raspberry
Pi 3B+, while the software part uses open-architecture LinuxCNC. Experiments were
performed in order to verify proper functioning of the entire system.
PB  - University of Banja Luka, Faculty of Mechanical Engineering
C3  - 14th International Conference on Accomplishments in Mechanical and Industrial Engineering  DEMI 2019 Banja Luka, 24 - 25 May 2019
T1  - Configuring of 3 axis mini cnc machine tool with control system based on Linuxcnc
EP  - 28
SP  - 15
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4611
ER  - 

@conference{
author = "Živanović, Saša and Dimić, Zoran and Vorkapić, Nikola and Mitrović, Stefan",
year = "2019",
abstract = "In this paper, a mini CNC machine tool with three translational axis and openarchitecture
control system is being considered. Existing CAD/CAM software
environment was used in order to create adequate corresponding virtual machine and
to enable CNC program development and testing for the specific platform. Prototype of
the machine was made utilizing parts salvaged from multiple CD/DVD drives. Control
system hardware is realized in two ways: based on PC platform and based on Raspberry
Pi 3B+, while the software part uses open-architecture LinuxCNC. Experiments were
performed in order to verify proper functioning of the entire system.",
publisher = "University of Banja Luka, Faculty of Mechanical Engineering",
journal = "14th International Conference on Accomplishments in Mechanical and Industrial Engineering  DEMI 2019 Banja Luka, 24 - 25 May 2019",
title = "Configuring of 3 axis mini cnc machine tool with control system based on Linuxcnc",
pages = "28-15",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4611"
}

Živanović, S., Dimić, Z., Vorkapić, N.,& Mitrović, S.. (2019). Configuring of 3 axis mini cnc machine tool with control system based on Linuxcnc. in 14th International Conference on Accomplishments in Mechanical and Industrial Engineering  DEMI 2019 Banja Luka, 24 - 25 May 2019
University of Banja Luka, Faculty of Mechanical Engineering., 15-28.
https://hdl.handle.net/21.15107/rcub_machinery_4611

Živanović S, Dimić Z, Vorkapić N, Mitrović S. Configuring of 3 axis mini cnc machine tool with control system based on Linuxcnc. in 14th International Conference on Accomplishments in Mechanical and Industrial Engineering  DEMI 2019 Banja Luka, 24 - 25 May 2019. 2019;:15-28.
https://hdl.handle.net/21.15107/rcub_machinery_4611 .

Živanović, Saša, Dimić, Zoran, Vorkapić, Nikola, Mitrović, Stefan, "Configuring of 3 axis mini cnc machine tool with control system based on Linuxcnc" in 14th International Conference on Accomplishments in Mechanical and Industrial Engineering  DEMI 2019 Banja Luka, 24 - 25 May 2019 (2019):15-28,
https://hdl.handle.net/21.15107/rcub_machinery_4611 .

TY  - JOUR
AU  - Mitrović, Stefan M.
AU  - Dimić, Zoran
AU  - Jakovljević, Živana
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3044
AB  - Paradigma industrije 4.0 diktira visoko efikasnu i fleksibilnu proizvodnju uvođenjem konfigurabilnih proizvodnih sistema i resursa koji odlikuju modularnost, interoperabilnost, skalabilnost i mogućnosti komunikacije. Trenutno se širom sveta istražuju različiti pristupi u nastojanju da se dostigne sledeći nivo proizvodnih tehnologija bez ugrožavanja same proizvodnje. Razmatrani pristupi podrazumevaju implementaciju Ciber Phisical Sistem-a, Interneta stvari i generacije proizvodnih sistema Digital Tvins. Složeni industrijski upravljački sistemi, koji su tradicionalno ožičeni i smatraju se sigurnim, sada postaju distribuirani, povezani na internet, obično se zasnivaju na bežičnoj komunikaciji i širom su otvoreni za sve vrste zlonamjernih podviga s potencijalno fatalnim posledicama. U ovom radu predstavljen je pregled bezbednosnih pitanja koja su ključna za razvoj sigurnije bežične distribucije kontrole proizvodnih resursa, pogodnih za izazove u narednim vremenima.
AB  - Industry 4.0 paradigm dictates highly efficient and flexible production through introduction of reconfigurable manufacturing systems and resources characterized by modularity, interoperability, scalability and communication capabilities. Various approaches are currently researched worldwide in an effort to achieve the next level of production technologies without compromising the production itself. Considered approaches imply implementation of Cyber Physical Systems, Internet of Things and generation of manufacturing systems Digital Twins. Complex industrial control systems, which were traditionally wired and considered safe, are now becoming distributed, internet-connected, usually based on wireless communication and wide open for all kinds of malicious exploits with potentially fatal consequences. This paper presents a review of security related issues that are crucial in developing safer wireless distributed control of manufacturing resources, ADEPT for challenges in coming times.
PB  - Univerzitet u Novom Sadu - Fakultet tehničkih nauka - Departman za proizvodno mašinstvo, Novi Sad
T2  - Journal of Production Engineering
T1  - Distribuirana kontrola proizvodnjih sredstava - pitanja vezana za sigurnost
T1  - Distributed control of manufacturing resources: Security related issues
EP  - 39
IS  - 2
SP  - 35
VL  - 22
DO  - 10.24867/JPE-2019-02-035
ER  - 

@article{
author = "Mitrović, Stefan M. and Dimić, Zoran and Jakovljević, Živana",
year = "2019",
abstract = "Paradigma industrije 4.0 diktira visoko efikasnu i fleksibilnu proizvodnju uvođenjem konfigurabilnih proizvodnih sistema i resursa koji odlikuju modularnost, interoperabilnost, skalabilnost i mogućnosti komunikacije. Trenutno se širom sveta istražuju različiti pristupi u nastojanju da se dostigne sledeći nivo proizvodnih tehnologija bez ugrožavanja same proizvodnje. Razmatrani pristupi podrazumevaju implementaciju Ciber Phisical Sistem-a, Interneta stvari i generacije proizvodnih sistema Digital Tvins. Složeni industrijski upravljački sistemi, koji su tradicionalno ožičeni i smatraju se sigurnim, sada postaju distribuirani, povezani na internet, obično se zasnivaju na bežičnoj komunikaciji i širom su otvoreni za sve vrste zlonamjernih podviga s potencijalno fatalnim posledicama. U ovom radu predstavljen je pregled bezbednosnih pitanja koja su ključna za razvoj sigurnije bežične distribucije kontrole proizvodnih resursa, pogodnih za izazove u narednim vremenima., Industry 4.0 paradigm dictates highly efficient and flexible production through introduction of reconfigurable manufacturing systems and resources characterized by modularity, interoperability, scalability and communication capabilities. Various approaches are currently researched worldwide in an effort to achieve the next level of production technologies without compromising the production itself. Considered approaches imply implementation of Cyber Physical Systems, Internet of Things and generation of manufacturing systems Digital Twins. Complex industrial control systems, which were traditionally wired and considered safe, are now becoming distributed, internet-connected, usually based on wireless communication and wide open for all kinds of malicious exploits with potentially fatal consequences. This paper presents a review of security related issues that are crucial in developing safer wireless distributed control of manufacturing resources, ADEPT for challenges in coming times.",
publisher = "Univerzitet u Novom Sadu - Fakultet tehničkih nauka - Departman za proizvodno mašinstvo, Novi Sad",
journal = "Journal of Production Engineering",
title = "Distribuirana kontrola proizvodnjih sredstava - pitanja vezana za sigurnost, Distributed control of manufacturing resources: Security related issues",
pages = "39-35",
number = "2",
volume = "22",
doi = "10.24867/JPE-2019-02-035"
}

Mitrović, S. M., Dimić, Z.,& Jakovljević, Ž.. (2019). Distribuirana kontrola proizvodnjih sredstava - pitanja vezana za sigurnost. in Journal of Production Engineering
Univerzitet u Novom Sadu - Fakultet tehničkih nauka - Departman za proizvodno mašinstvo, Novi Sad., 22(2), 35-39.
https://doi.org/10.24867/JPE-2019-02-035

Mitrović SM, Dimić Z, Jakovljević Ž. Distribuirana kontrola proizvodnjih sredstava - pitanja vezana za sigurnost. in Journal of Production Engineering. 2019;22(2):35-39.
doi:10.24867/JPE-2019-02-035 .

Mitrović, Stefan M., Dimić, Zoran, Jakovljević, Živana, "Distribuirana kontrola proizvodnjih sredstava - pitanja vezana za sigurnost" in Journal of Production Engineering, 22, no. 2 (2019):35-39,
https://doi.org/10.24867/JPE-2019-02-035 . .

TY  - CONF
AU  - Jakovljević, Živana
AU  - Petrović, Milica
AU  - Mitrović, Stefan
AU  - Miljković, Zoran
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3958
AB  - Within Industrie 4.0 intelligent sensing systems represent an indispensable asset with significant role in enabling shifting from automated to intelligent manufacturing. Instead of being simple transducers, intelligent sensors are able to retrieve useful information from raw signal. They represent systems with integrated computation and communication capabilities, that run sophisticated and real time applicable algorithms and communicate the necessary information to the other elements of the manufacturing facility.

In this paper we present the recent research results in the field of intelligent sensing systems that were accomplished at Laboratory for Manufacturing Automation and Laboratory for Robotics and Artificial Intelligence at Department for Production Engineering (KaProm) at Faculty of Mechanical Engineering in Belgrade. Presented systems are intended for application in various manufacturing processes, such as machining, assembly, manipulation, material transport, rubber processing lines. They are based on application of different non-stationary signal processing (Discrete Wavelet Transform, Huang-Hilbert transform) and machine learning and artificial intelligence techniques (Support Vector Machines, Artificial Neural Networks, bio-inspired algorithms, clustering methods, fuzzy inference mechanisms). The most of developed systems are implemented in embedded devices and their real-world applicability is demonstrated.
PB  - Springer International Publishing
C3  - Proceedings of 3rd International Conference on the Industry 4.0 Model for Advanced Manufacturing – AMP 2018
T1  - Intelligent Sensing Systems – Status of research at KaProm
DO  - 10.1007/978-3-319-89563-5_2
ER  - 

@conference{
author = "Jakovljević, Živana and Petrović, Milica and Mitrović, Stefan and Miljković, Zoran",
year = "2018",
abstract = "Within Industrie 4.0 intelligent sensing systems represent an indispensable asset with significant role in enabling shifting from automated to intelligent manufacturing. Instead of being simple transducers, intelligent sensors are able to retrieve useful information from raw signal. They represent systems with integrated computation and communication capabilities, that run sophisticated and real time applicable algorithms and communicate the necessary information to the other elements of the manufacturing facility.

In this paper we present the recent research results in the field of intelligent sensing systems that were accomplished at Laboratory for Manufacturing Automation and Laboratory for Robotics and Artificial Intelligence at Department for Production Engineering (KaProm) at Faculty of Mechanical Engineering in Belgrade. Presented systems are intended for application in various manufacturing processes, such as machining, assembly, manipulation, material transport, rubber processing lines. They are based on application of different non-stationary signal processing (Discrete Wavelet Transform, Huang-Hilbert transform) and machine learning and artificial intelligence techniques (Support Vector Machines, Artificial Neural Networks, bio-inspired algorithms, clustering methods, fuzzy inference mechanisms). The most of developed systems are implemented in embedded devices and their real-world applicability is demonstrated.",
publisher = "Springer International Publishing",
journal = "Proceedings of 3rd International Conference on the Industry 4.0 Model for Advanced Manufacturing – AMP 2018",
title = "Intelligent Sensing Systems – Status of research at KaProm",
doi = "10.1007/978-3-319-89563-5_2"
}

Jakovljević, Ž., Petrović, M., Mitrović, S.,& Miljković, Z.. (2018). Intelligent Sensing Systems – Status of research at KaProm. in Proceedings of 3rd International Conference on the Industry 4.0 Model for Advanced Manufacturing – AMP 2018
Springer International Publishing..
https://doi.org/10.1007/978-3-319-89563-5_2

Jakovljević Ž, Petrović M, Mitrović S, Miljković Z. Intelligent Sensing Systems – Status of research at KaProm. in Proceedings of 3rd International Conference on the Industry 4.0 Model for Advanced Manufacturing – AMP 2018. 2018;.
doi:10.1007/978-3-319-89563-5_2 .

Jakovljević, Živana, Petrović, Milica, Mitrović, Stefan, Miljković, Zoran, "Intelligent Sensing Systems – Status of research at KaProm" in Proceedings of 3rd International Conference on the Industry 4.0 Model for Advanced Manufacturing – AMP 2018 (2018),
https://doi.org/10.1007/978-3-319-89563-5_2 . .

TY  - CONF
AU  - Mitrović, Stefan
AU  - Dimić, Zoran
AU  - Jakovljević, Živana
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5174
AB  - Industry 4.0 paradigm dictates highly efficient and flexible production through introduction of reconfigurable manufacturing systems and resources characterized by modularity, interoperability, scalability and communication capabilities. Various approaches are currently researched worldwide in an effort to achieve the next level of production technologies without compromising the production itself. Considered approaches imply implementation of Cyber Physical Systems, Internet of Things and generation of manufacturing systems Digital Twins. Complex industrial control systems, which were traditionally wired and considered safe, are now becoming  distributed, internet-connected, usually based on wireless communication and wide open for all kinds of malicious exploits with potentially fatal consequences. This paper presents a review of security related issues that are crucial in developing safer wireless distributed control of manufacturing resources, adept for challenges in coming times.
C3  - Proceedings of 13th International Scientific Conference MMA 2018 – Flexible Technologies
T1  - Distributed Control of Manufacturing Resources – Security Related Issues
EP  - 198
SP  - 195
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5174
ER  - 

@conference{
author = "Mitrović, Stefan and Dimić, Zoran and Jakovljević, Živana",
year = "2018",
abstract = "Industry 4.0 paradigm dictates highly efficient and flexible production through introduction of reconfigurable manufacturing systems and resources characterized by modularity, interoperability, scalability and communication capabilities. Various approaches are currently researched worldwide in an effort to achieve the next level of production technologies without compromising the production itself. Considered approaches imply implementation of Cyber Physical Systems, Internet of Things and generation of manufacturing systems Digital Twins. Complex industrial control systems, which were traditionally wired and considered safe, are now becoming  distributed, internet-connected, usually based on wireless communication and wide open for all kinds of malicious exploits with potentially fatal consequences. This paper presents a review of security related issues that are crucial in developing safer wireless distributed control of manufacturing resources, adept for challenges in coming times.",
journal = "Proceedings of 13th International Scientific Conference MMA 2018 – Flexible Technologies",
title = "Distributed Control of Manufacturing Resources – Security Related Issues",
pages = "198-195",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5174"
}

Mitrović, S., Dimić, Z.,& Jakovljević, Ž.. (2018). Distributed Control of Manufacturing Resources – Security Related Issues. in Proceedings of 13th International Scientific Conference MMA 2018 – Flexible Technologies, 195-198.
https://hdl.handle.net/21.15107/rcub_machinery_5174

Mitrović S, Dimić Z, Jakovljević Ž. Distributed Control of Manufacturing Resources – Security Related Issues. in Proceedings of 13th International Scientific Conference MMA 2018 – Flexible Technologies. 2018;:195-198.
https://hdl.handle.net/21.15107/rcub_machinery_5174 .

Mitrović, Stefan, Dimić, Zoran, Jakovljević, Živana, "Distributed Control of Manufacturing Resources – Security Related Issues" in Proceedings of 13th International Scientific Conference MMA 2018 – Flexible Technologies (2018):195-198,
https://hdl.handle.net/21.15107/rcub_machinery_5174 .

TY  - CONF
AU  - Dimić, Zoran
AU  - Milutinović, Dragan
AU  - Živanović, Saša
AU  - Mitrović, Stefan
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4822
AB  - The paper presents research and development results of control and programming system of
parallel kinematic machine (PKM). The control system is based on G-code and two separate units: a realtime control system and an off-line system for G-code writing and editing, checking programme syntax and semantics and discovering and avoiding singular positions by simulating the machining programme in accordance with machine tool kinematics.
PB  - University of Kragujevac, Faculty of Engineering
C3  - Proceedings of the 37th International Conference on Production Engineering of Serbia, ICPE-S 2018
T1  - Control and programming system of parallel kinematic machine
EP  - 59
SP  - 50
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4822
ER  - 

@conference{
author = "Dimić, Zoran and Milutinović, Dragan and Živanović, Saša and Mitrović, Stefan",
year = "2018",
abstract = "The paper presents research and development results of control and programming system of
parallel kinematic machine (PKM). The control system is based on G-code and two separate units: a realtime control system and an off-line system for G-code writing and editing, checking programme syntax and semantics and discovering and avoiding singular positions by simulating the machining programme in accordance with machine tool kinematics.",
publisher = "University of Kragujevac, Faculty of Engineering",
journal = "Proceedings of the 37th International Conference on Production Engineering of Serbia, ICPE-S 2018",
title = "Control and programming system of parallel kinematic machine",
pages = "59-50",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4822"
}

Dimić, Z., Milutinović, D., Živanović, S.,& Mitrović, S.. (2018). Control and programming system of parallel kinematic machine. in Proceedings of the 37th International Conference on Production Engineering of Serbia, ICPE-S 2018
University of Kragujevac, Faculty of Engineering., 50-59.
https://hdl.handle.net/21.15107/rcub_machinery_4822

Dimić Z, Milutinović D, Živanović S, Mitrović S. Control and programming system of parallel kinematic machine. in Proceedings of the 37th International Conference on Production Engineering of Serbia, ICPE-S 2018. 2018;:50-59.
https://hdl.handle.net/21.15107/rcub_machinery_4822 .

Dimić, Zoran, Milutinović, Dragan, Živanović, Saša, Mitrović, Stefan, "Control and programming system of parallel kinematic machine" in Proceedings of the 37th International Conference on Production Engineering of Serbia, ICPE-S 2018 (2018):50-59,
https://hdl.handle.net/21.15107/rcub_machinery_4822 .

TY  - JOUR
AU  - Vidaković, Jelena
AU  - Kvrgić, Vladimir
AU  - Lazarević, Mihailo
AU  - Dimić, Zoran
AU  - Mitrović, Stefan M.
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2507
AB  - Razvoj moćnih metoda za programiranje robota koje su ujedno i korisnički prilagođene je tema značajnih istraživanja u robotskoj zajednici. Radi olakšavanja programiranja robota, pojavljuje se ideja o razvoju standardnih procedura za programiranje najčešće prisutnih robotskih zadataka, a koje se mogu univerzalno lako upotrebiti kao gotov deo (ready-made) korisničkog programa. Važna klasa aplikacija industrijskih robota podrazumeva kretanje hvatača (end-effector) u paralelnim ravnima. U ovom radu je prikazan razvoj procedure jezika za programiranje robota koja služi za određivanje normale ravni objekta u odnosu na koordinatni sistem od značaja, kao i osnova procedure za automatizovani postupak programiranja orijentacije hvatača u odnosu na ravan objekta. Ova procedura se može koristiti kao integralni deo task oriented metoda programiranja robota, a takođe kao i procedura eksplicitnog robotskog programskog jezika, i ilustrovana je kroz praktični primer na robotu Lola 15.
AB  - Design of user-friendly and at the same time powerful robot programming methods is the subject of significant efforts undertaken by the international robotics community. For the purpose of facilitating robot programming, with regard to the most common present-day applications in industry, it would be useful to develop programming procedures for frequently used manipulator tasks which could be easily implemented and used as ready-made application software. Important class of industrial robot applications involves end-effector trajectories in planar surfaces. Development of robot programming language procedure intended for determination of object plane normal with respect to frame of interest, as well as programming of end-effector orientation is presented in this paper. This procedure can be used as integral part of task oriented robot programing applications as well as a procedure for explicit programming languages, and it is illustrated in practical example with the robot Lola 15.
PB  - Savez inženjera i tehničara Srbije, Beograd
T2  - Tehnika
T1  - Procedura za definisanje orijentacije end-efektora koji vrši ravno kretanje u robotskim aplikacijama
T1  - Procedure for definition of end-effector orientation in planar surfaces robot applications
EP  - 851
IS  - 6
SP  - 845
VL  - 72
DO  - 10.5937/tehnika1706845V
ER  - 

@article{
author = "Vidaković, Jelena and Kvrgić, Vladimir and Lazarević, Mihailo and Dimić, Zoran and Mitrović, Stefan M.",
year = "2017",
abstract = "Razvoj moćnih metoda za programiranje robota koje su ujedno i korisnički prilagođene je tema značajnih istraživanja u robotskoj zajednici. Radi olakšavanja programiranja robota, pojavljuje se ideja o razvoju standardnih procedura za programiranje najčešće prisutnih robotskih zadataka, a koje se mogu univerzalno lako upotrebiti kao gotov deo (ready-made) korisničkog programa. Važna klasa aplikacija industrijskih robota podrazumeva kretanje hvatača (end-effector) u paralelnim ravnima. U ovom radu je prikazan razvoj procedure jezika za programiranje robota koja služi za određivanje normale ravni objekta u odnosu na koordinatni sistem od značaja, kao i osnova procedure za automatizovani postupak programiranja orijentacije hvatača u odnosu na ravan objekta. Ova procedura se može koristiti kao integralni deo task oriented metoda programiranja robota, a takođe kao i procedura eksplicitnog robotskog programskog jezika, i ilustrovana je kroz praktični primer na robotu Lola 15., Design of user-friendly and at the same time powerful robot programming methods is the subject of significant efforts undertaken by the international robotics community. For the purpose of facilitating robot programming, with regard to the most common present-day applications in industry, it would be useful to develop programming procedures for frequently used manipulator tasks which could be easily implemented and used as ready-made application software. Important class of industrial robot applications involves end-effector trajectories in planar surfaces. Development of robot programming language procedure intended for determination of object plane normal with respect to frame of interest, as well as programming of end-effector orientation is presented in this paper. This procedure can be used as integral part of task oriented robot programing applications as well as a procedure for explicit programming languages, and it is illustrated in practical example with the robot Lola 15.",
publisher = "Savez inženjera i tehničara Srbije, Beograd",
journal = "Tehnika",
title = "Procedura za definisanje orijentacije end-efektora koji vrši ravno kretanje u robotskim aplikacijama, Procedure for definition of end-effector orientation in planar surfaces robot applications",
pages = "851-845",
number = "6",
volume = "72",
doi = "10.5937/tehnika1706845V"
}

Vidaković, J., Kvrgić, V., Lazarević, M., Dimić, Z.,& Mitrović, S. M.. (2017). Procedura za definisanje orijentacije end-efektora koji vrši ravno kretanje u robotskim aplikacijama. in Tehnika
Savez inženjera i tehničara Srbije, Beograd., 72(6), 845-851.
https://doi.org/10.5937/tehnika1706845V

Vidaković J, Kvrgić V, Lazarević M, Dimić Z, Mitrović SM. Procedura za definisanje orijentacije end-efektora koji vrši ravno kretanje u robotskim aplikacijama. in Tehnika. 2017;72(6):845-851.
doi:10.5937/tehnika1706845V .

Vidaković, Jelena, Kvrgić, Vladimir, Lazarević, Mihailo, Dimić, Zoran, Mitrović, Stefan M., "Procedura za definisanje orijentacije end-efektora koji vrši ravno kretanje u robotskim aplikacijama" in Tehnika, 72, no. 6 (2017):845-851,
https://doi.org/10.5937/tehnika1706845V . .

TY  - CONF
AU  - Vidaković, Jelena
AU  - Lazarević, Mihailo
AU  - Kvrgić, Vladimir
AU  - Lutovac-Banduka, Maja
AU  - Mitrović, Stefan
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4147
AB  - The spatial disorientation trainer (SDT) is a dynamic flight simulator used to enhance ability
of pilots of modern combat aircrafts to deal with dangerous effects of spatial disorientation. This
device can be modeled and controlled as 4DoF robot manipulator. In this paper, control system
design of SDT based on a dynamic model is presented. Two control strategies are compared: 1)
computed torque method with feedforward compensation of nonlinearities and cross-coupling
effects in dynamic model; 2) single joint (decentralized) PD position controller. PD controller is
designed for the actuator model which includes inertia reflected on rotor shafts (effective inertia).
Position feedback design considers structural natural frequencies of the manipulator. Effective
inertias of SDT for commanded motions are obtained from robot inverse dynamic model which is
developed using recursive Newton-Euler equations. Simulation of position tracking for
commanded motion is performed in Matlab Simulink.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017
T1  - Control system design of spatial disorientation trainer
EP  - 10
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4147
ER  - 

@conference{
author = "Vidaković, Jelena and Lazarević, Mihailo and Kvrgić, Vladimir and Lutovac-Banduka, Maja and Mitrović, Stefan",
year = "2017",
abstract = "The spatial disorientation trainer (SDT) is a dynamic flight simulator used to enhance ability
of pilots of modern combat aircrafts to deal with dangerous effects of spatial disorientation. This
device can be modeled and controlled as 4DoF robot manipulator. In this paper, control system
design of SDT based on a dynamic model is presented. Two control strategies are compared: 1)
computed torque method with feedforward compensation of nonlinearities and cross-coupling
effects in dynamic model; 2) single joint (decentralized) PD position controller. PD controller is
designed for the actuator model which includes inertia reflected on rotor shafts (effective inertia).
Position feedback design considers structural natural frequencies of the manipulator. Effective
inertias of SDT for commanded motions are obtained from robot inverse dynamic model which is
developed using recursive Newton-Euler equations. Simulation of position tracking for
commanded motion is performed in Matlab Simulink.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017",
title = "Control system design of spatial disorientation trainer",
pages = "10-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4147"
}

Vidaković, J., Lazarević, M., Kvrgić, V., Lutovac-Banduka, M.,& Mitrović, S.. (2017). Control system design of spatial disorientation trainer. in 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017
Beograd : Srpsko društvo za mehaniku., 1-10.
https://hdl.handle.net/21.15107/rcub_machinery_4147

Vidaković J, Lazarević M, Kvrgić V, Lutovac-Banduka M, Mitrović S. Control system design of spatial disorientation trainer. in 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017. 2017;:1-10.
https://hdl.handle.net/21.15107/rcub_machinery_4147 .

Vidaković, Jelena, Lazarević, Mihailo, Kvrgić, Vladimir, Lutovac-Banduka, Maja, Mitrović, Stefan, "Control system design of spatial disorientation trainer" in 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017 (2017):1-10,
https://hdl.handle.net/21.15107/rcub_machinery_4147 .

TY  - CONF
AU  - Mitrović, Stefan
AU  - Jakovljević, Živana
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5230
AB  - Savremene proizvodne sisteme karakteriše potreba za kratkim odzivom na nove tržišne zahteve,    uz vrhunski kvalitet proizvoda i maksimalnu efikasnost. Tako visok tehnološki nivo dostiže se primenom    fleksibilnih tehnologija, čiji su osnov proizvodna sredstva sa rekonfigurabilnom hardverskom i    softverskom strukturom. Distribuirano upravljanje podržava opisani pristup proizvodnji kroz    decentralizovano izvršavanje upravljačkog zadatka na više inteligentnih (pametnih) uređaja. Uz    adekvatnu primenu, distribuirano upravljanje može dovesti do značajnih ušteda energije, materijala i    vremena. U okviru ovog rada opisan je distribuirani sistem upravljanja pneumatskim robotom zasnovan    na standardu IEC 61499, uz upotrebu komunikacije bazirane na standardu IEC 802.15.4.
C3  - ETIKUM 2017, Zbornik radova
T1  - Primena distribuiranog sistema upravljanja baziranog na IEC 61499 i 802.15.4 standardima
EP  - 40
SP  - 37
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5230
ER  - 

@conference{
author = "Mitrović, Stefan and Jakovljević, Živana",
year = "2017",
abstract = "Savremene proizvodne sisteme karakteriše potreba za kratkim odzivom na nove tržišne zahteve,    uz vrhunski kvalitet proizvoda i maksimalnu efikasnost. Tako visok tehnološki nivo dostiže se primenom    fleksibilnih tehnologija, čiji su osnov proizvodna sredstva sa rekonfigurabilnom hardverskom i    softverskom strukturom. Distribuirano upravljanje podržava opisani pristup proizvodnji kroz    decentralizovano izvršavanje upravljačkog zadatka na više inteligentnih (pametnih) uređaja. Uz    adekvatnu primenu, distribuirano upravljanje može dovesti do značajnih ušteda energije, materijala i    vremena. U okviru ovog rada opisan je distribuirani sistem upravljanja pneumatskim robotom zasnovan    na standardu IEC 61499, uz upotrebu komunikacije bazirane na standardu IEC 802.15.4.",
journal = "ETIKUM 2017, Zbornik radova",
title = "Primena distribuiranog sistema upravljanja baziranog na IEC 61499 i 802.15.4 standardima",
pages = "40-37",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5230"
}

Mitrović, S.,& Jakovljević, Ž.. (2017). Primena distribuiranog sistema upravljanja baziranog na IEC 61499 i 802.15.4 standardima. in ETIKUM 2017, Zbornik radova, 37-40.
https://hdl.handle.net/21.15107/rcub_machinery_5230

Mitrović S, Jakovljević Ž. Primena distribuiranog sistema upravljanja baziranog na IEC 61499 i 802.15.4 standardima. in ETIKUM 2017, Zbornik radova. 2017;:37-40.
https://hdl.handle.net/21.15107/rcub_machinery_5230 .

Mitrović, Stefan, Jakovljević, Živana, "Primena distribuiranog sistema upravljanja baziranog na IEC 61499 i 802.15.4 standardima" in ETIKUM 2017, Zbornik radova (2017):37-40,
https://hdl.handle.net/21.15107/rcub_machinery_5230 .

TY  - CONF
AU  - Dimić, Zoran
AU  - Milutinović, Dragan
AU  - Živanović, Saša
AU  - Mitrović, Stefan
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5107
AB  - U radu je prikazan jedan metod konfigurisanja/rekonfigurisanja upravlјačkog sistema otvorene arhitekture rekonfigurabilnih robota za obradu. Na primeru EMC2 upravlјačkog softvera otvorene arhitekture su posredstvom dijagrama za modelovanje dinamičkih procesa definisane aktivnosti sistemintegratora/ korisnika u procesu konfigurisanja/rekonfigurisanja upravlјačkog sistema, i uspostavlјene su relacije između softverskih i hardverskih komponenata upravlјanja.
AB  - A method for configuration/reconfiguration of an open-architecture control system of a
reconfigurable machining robot is given. By utilizing dynamic process modelling diagrams, activities of systems integrator/user regarding control system configuration/reconfiguration shall be presented by the example of open-architecture control software, altogether with established relations between hardware and software components of a given control system.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS, Zbornik radova
T1  - Metod konfigurisanјa upravljačkog sistema otvorene arhitekture rekonfigurabilnog robota za obradu
T1  - A method for configuration of an open-architecture control system of a reconfigurable machining robot
EP  - 3.15
SP  - 3.12
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5107
ER  - 

@conference{
author = "Dimić, Zoran and Milutinović, Dragan and Živanović, Saša and Mitrović, Stefan",
year = "2016",
abstract = "U radu je prikazan jedan metod konfigurisanja/rekonfigurisanja upravlјačkog sistema otvorene arhitekture rekonfigurabilnih robota za obradu. Na primeru EMC2 upravlјačkog softvera otvorene arhitekture su posredstvom dijagrama za modelovanje dinamičkih procesa definisane aktivnosti sistemintegratora/ korisnika u procesu konfigurisanja/rekonfigurisanja upravlјačkog sistema, i uspostavlјene su relacije između softverskih i hardverskih komponenata upravlјanja., A method for configuration/reconfiguration of an open-architecture control system of a
reconfigurable machining robot is given. By utilizing dynamic process modelling diagrams, activities of systems integrator/user regarding control system configuration/reconfiguration shall be presented by the example of open-architecture control software, altogether with established relations between hardware and software components of a given control system.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS, Zbornik radova",
title = "Metod konfigurisanјa upravljačkog sistema otvorene arhitekture rekonfigurabilnog robota za obradu, A method for configuration of an open-architecture control system of a reconfigurable machining robot",
pages = "3.15-3.12",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5107"
}

Dimić, Z., Milutinović, D., Živanović, S.,& Mitrović, S.. (2016). Metod konfigurisanјa upravljačkog sistema otvorene arhitekture rekonfigurabilnog robota za obradu. in 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS, Zbornik radova
Univerzitet u Beogradu, Mašinski fakultet., 3.12-3.15.
https://hdl.handle.net/21.15107/rcub_machinery_5107

Dimić Z, Milutinović D, Živanović S, Mitrović S. Metod konfigurisanјa upravljačkog sistema otvorene arhitekture rekonfigurabilnog robota za obradu. in 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS, Zbornik radova. 2016;:3.12-3.15.
https://hdl.handle.net/21.15107/rcub_machinery_5107 .

Dimić, Zoran, Milutinović, Dragan, Živanović, Saša, Mitrović, Stefan, "Metod konfigurisanјa upravljačkog sistema otvorene arhitekture rekonfigurabilnog robota za obradu" in 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS, Zbornik radova (2016):3.12-3.15,
https://hdl.handle.net/21.15107/rcub_machinery_5107 .

TY  - CONF
AU  - Mitrović, Stefan
AU  - Jakovljević, Živana
AU  - Dimić, Zoran
AU  - Miljković, Zoran
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4558
AB  - U okviru ovog rada predstavljeni su inicijalni rezultati istraživanja u kreiranju sistema za upravljanje mobilnim robotom za kretanje u 2D prostoru sa preprekama. Sistem je zasnovan na upotrebi veštačkih neuronskih mreža i infracrvenih senzora rastojanja. Softversko rešenje je primenjeno na mikrokontroleru, sa ciljem da se upotrebom minimalne hardverske konfiguracije postigne adekvatan nivo mogućnosti snalaženja u prostoru. Opisane su korišćene veštačke neuronske mreže, dati su algoritmi upravljačkog i pomoćnog softvera i opisani su eksperimentalni rezultati. Projektovani sistem upravljanja uspešno je testiran na mobilnom robotu „Buggy“ u okviru eksperimentalnog okruženja postavljenog u Lola institutu.
AB  - In this paper, a neural networks based control system of a mobile robot for obstacle avoidance in
2D space is proposed. The system utilizes infrared distance sensors and neural networks for navigation around obstacles. Developed control software is implemented within microcontroller for achieving the adeqate level of space awareness while maintaing hardware configuration at a minimum. Developed neural networks will be described, along with control and auxiliary software and experimental results. Proposed control system has been successfully tested on a Mikroe Buggy mobile robot at Lola institute in Belgrade.
PB  - JUPITER Asocijacija, Univerzitet u Beogradu - Mašinski fakultet
C3  - 40th JUPITER Conference : Proceedings, Beograd, maj 2016
T1  - Управљање мобилним роботом за заобилажење препрека у 2D простору применом вештачких неуронских мрежа
T1  - Neural Networks Based Control System of a Mobile Robot for Obstacle Avoidance in 2D Space
EP  - 4.28
SP  - 4.18
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4558
ER  - 

@conference{
author = "Mitrović, Stefan and Jakovljević, Živana and Dimić, Zoran and Miljković, Zoran",
year = "2016",
abstract = "U okviru ovog rada predstavljeni su inicijalni rezultati istraživanja u kreiranju sistema za upravljanje mobilnim robotom za kretanje u 2D prostoru sa preprekama. Sistem je zasnovan na upotrebi veštačkih neuronskih mreža i infracrvenih senzora rastojanja. Softversko rešenje je primenjeno na mikrokontroleru, sa ciljem da se upotrebom minimalne hardverske konfiguracije postigne adekvatan nivo mogućnosti snalaženja u prostoru. Opisane su korišćene veštačke neuronske mreže, dati su algoritmi upravljačkog i pomoćnog softvera i opisani su eksperimentalni rezultati. Projektovani sistem upravljanja uspešno je testiran na mobilnom robotu „Buggy“ u okviru eksperimentalnog okruženja postavljenog u Lola institutu., In this paper, a neural networks based control system of a mobile robot for obstacle avoidance in
2D space is proposed. The system utilizes infrared distance sensors and neural networks for navigation around obstacles. Developed control software is implemented within microcontroller for achieving the adeqate level of space awareness while maintaing hardware configuration at a minimum. Developed neural networks will be described, along with control and auxiliary software and experimental results. Proposed control system has been successfully tested on a Mikroe Buggy mobile robot at Lola institute in Belgrade.",
publisher = "JUPITER Asocijacija, Univerzitet u Beogradu - Mašinski fakultet",
journal = "40th JUPITER Conference : Proceedings, Beograd, maj 2016",
title = "Управљање мобилним роботом за заобилажење препрека у 2D простору применом вештачких неуронских мрежа, Neural Networks Based Control System of a Mobile Robot for Obstacle Avoidance in 2D Space",
pages = "4.28-4.18",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4558"
}

Mitrović, S., Jakovljević, Ž., Dimić, Z.,& Miljković, Z.. (2016). Управљање мобилним роботом за заобилажење препрека у 2D простору применом вештачких неуронских мрежа. in 40th JUPITER Conference : Proceedings, Beograd, maj 2016
JUPITER Asocijacija, Univerzitet u Beogradu - Mašinski fakultet., 4.18-4.28.
https://hdl.handle.net/21.15107/rcub_machinery_4558

Mitrović S, Jakovljević Ž, Dimić Z, Miljković Z. Управљање мобилним роботом за заобилажење препрека у 2D простору применом вештачких неуронских мрежа. in 40th JUPITER Conference : Proceedings, Beograd, maj 2016. 2016;:4.18-4.28.
https://hdl.handle.net/21.15107/rcub_machinery_4558 .

Mitrović, Stefan, Jakovljević, Živana, Dimić, Zoran, Miljković, Zoran, "Управљање мобилним роботом за заобилажење препрека у 2D простору применом вештачких неуронских мрежа" in 40th JUPITER Conference : Proceedings, Beograd, maj 2016 (2016):4.18-4.28,
https://hdl.handle.net/21.15107/rcub_machinery_4558 .