TY  - JOUR
AU  - Dančuo, Zorana
AU  - Rašuo, Boško
AU  - Željković, Vladimir
AU  - Đapić, Mirko
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1362
AB  - Razvoj humane centrifuge visokih performansi ima za cilj da izađe u susret zahtevima za stvaranje sigurnog i bezbednog okruženja za trening pilota borbenih aviona, radi ispitivanja njihove tolerancije na velika opterećenja. Svrha razvoja uređaja za obuku, je da se ustanovi kako nespecifični režimi leta deluju na individualnu fiziologiju pilota na obuci, kao i njegovu sposobnost optimalnog izvođenja borbene misije pod datim opterećenjem. Razvoj je baziran na rešavanju strukturalnih problema, kreiranju kinematskih, dinamičkih i kontrolnih algoritama za simulaciju. Humana centrifuga, izložena u ovom radu, je projektovana kao sistem sa tri stepena slobode kretanja. Zbog izuzetnih performansi, uređaj centrifuge nalazi značajnu primenu u testiranju izdržljivosti materijala i avionske opreme. Na Institutu Lola, biće razvijen model u odgovarajućoj razmeri. Cilj razvoja centrifuge visokih performansi je, pre svega, da se simuliraju specifična opterećenja supermanevara i time obezbedi optimalan trenažni režim pilota, izlažući pilota na obuci velikom priraštaju opterećenja u kratkom vremenskom intervalu.
AB  - In this paper some aspects of Human Centrifuge development are given. The main objective is to emphasize the importance of high G pilots training. Terms such as 'high agility' and 'supermaeuverability' are briefly explained. The development of a High Performance Centrifuge is intended to meet requirements for creating a safe and secure environment for fighter pilots training. The purpose is to determine how non-specific flight regimes affect the individual physiology, as well as the ability to perform combat missions under a given load. The development is based on structural problems, creation of kinematic, dynamic and control algorithms. The Human Centrifuge, presented in this paper is designed as a system of three Degrees of Freedom of Motion. Due to its exceptional performances, the device has an important application in material testing and sustainability of overall airborne equipment. The manipulator will be produced in an appropriate ratio, as a model. The main goal of this paper is to underline the importance of optimal training, by ensuring a high G onset rate. Also, some basic technical data and diagrams are given, in order to make the reader familiar to motion simulation basics.
PB  - Savez inženjera i tehničara Srbije, Beograd
T2  - Tehnika
T1  - Osnovi razvoja humane centrifuge visokih performansi
T1  - Basics of high performance human centrifuge development
EP  - 577
IS  - 4
SP  - 573
VL  - 67
UR  - https://hdl.handle.net/21.15107/rcub_machinery_1362
ER  - 

@article{
author = "Dančuo, Zorana and Rašuo, Boško and Željković, Vladimir and Đapić, Mirko",
year = "2012",
abstract = "Razvoj humane centrifuge visokih performansi ima za cilj da izađe u susret zahtevima za stvaranje sigurnog i bezbednog okruženja za trening pilota borbenih aviona, radi ispitivanja njihove tolerancije na velika opterećenja. Svrha razvoja uređaja za obuku, je da se ustanovi kako nespecifični režimi leta deluju na individualnu fiziologiju pilota na obuci, kao i njegovu sposobnost optimalnog izvođenja borbene misije pod datim opterećenjem. Razvoj je baziran na rešavanju strukturalnih problema, kreiranju kinematskih, dinamičkih i kontrolnih algoritama za simulaciju. Humana centrifuga, izložena u ovom radu, je projektovana kao sistem sa tri stepena slobode kretanja. Zbog izuzetnih performansi, uređaj centrifuge nalazi značajnu primenu u testiranju izdržljivosti materijala i avionske opreme. Na Institutu Lola, biće razvijen model u odgovarajućoj razmeri. Cilj razvoja centrifuge visokih performansi je, pre svega, da se simuliraju specifična opterećenja supermanevara i time obezbedi optimalan trenažni režim pilota, izlažući pilota na obuci velikom priraštaju opterećenja u kratkom vremenskom intervalu., In this paper some aspects of Human Centrifuge development are given. The main objective is to emphasize the importance of high G pilots training. Terms such as 'high agility' and 'supermaeuverability' are briefly explained. The development of a High Performance Centrifuge is intended to meet requirements for creating a safe and secure environment for fighter pilots training. The purpose is to determine how non-specific flight regimes affect the individual physiology, as well as the ability to perform combat missions under a given load. The development is based on structural problems, creation of kinematic, dynamic and control algorithms. The Human Centrifuge, presented in this paper is designed as a system of three Degrees of Freedom of Motion. Due to its exceptional performances, the device has an important application in material testing and sustainability of overall airborne equipment. The manipulator will be produced in an appropriate ratio, as a model. The main goal of this paper is to underline the importance of optimal training, by ensuring a high G onset rate. Also, some basic technical data and diagrams are given, in order to make the reader familiar to motion simulation basics.",
publisher = "Savez inženjera i tehničara Srbije, Beograd",
journal = "Tehnika",
title = "Osnovi razvoja humane centrifuge visokih performansi, Basics of high performance human centrifuge development",
pages = "577-573",
number = "4",
volume = "67",
url = "https://hdl.handle.net/21.15107/rcub_machinery_1362"
}

Dančuo, Z., Rašuo, B., Željković, V.,& Đapić, M.. (2012). Osnovi razvoja humane centrifuge visokih performansi. in Tehnika
Savez inženjera i tehničara Srbije, Beograd., 67(4), 573-577.
https://hdl.handle.net/21.15107/rcub_machinery_1362

Dančuo Z, Rašuo B, Željković V, Đapić M. Osnovi razvoja humane centrifuge visokih performansi. in Tehnika. 2012;67(4):573-577.
https://hdl.handle.net/21.15107/rcub_machinery_1362 .

Dančuo, Zorana, Rašuo, Boško, Željković, Vladimir, Đapić, Mirko, "Osnovi razvoja humane centrifuge visokih performansi" in Tehnika, 67, no. 4 (2012):573-577,
https://hdl.handle.net/21.15107/rcub_machinery_1362 .

TY  - JOUR
AU  - Đapić, Mirko
AU  - Popović, Predrag
AU  - Lukić, Ljubomir
AU  - Mitrović, Radivoje
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1361
AB  - Evropska Unija je početkom devedesetih godina prošlog veka, kroz uvođenje Novog i Globalnog pristupa tehničkoj harmonizaciji i standardizaciji, ostvarila značajno unapređenje u postupku ocenjivanja usaglašenosti proizvoda na taj način što je zahteve za bezbednost tehničkih proizvoda integrisala u proces projektovanja. To je postignuto tako što se u procesu projektovanja preventivno analiziraju i kvantifikuju nivoi rizika u cilju određivanja obima potrebnih sistema bezbednosti. S druge strane, svedoci smo rapidnog razvoja i implementacije holističkih pristupa upravljanju rizicima u preduzeću koji je u savremenoj poslovnoj praksi objedinjen nazivom Menadžment rizika preduzeća (ERM - Enterprise Risk Menagment). Sledeći to u radu se preko osnova Novog i Globalnog pristupa Evropske Unije predstavlja koncept ocene rizika u direktivama Novog pristupa (mašinska, ATEX, liftovi) i daje koncept njegove integracije u holistički pristup upravljanju rizicima u preduzeću kakav je ERM.
AB  - In the nineties years of the previous century, the European Union achieved, through introducing the New and Global Approach to technical harmonization and standardization, a significant improvement in the approach to conformity assessment of products, by integrating the requirements for technical products safety into the process of its designing. This was achieved by preventive analyzing and quantifying of risk levels in the design process with the objective of determining the scope of the needed safety systems. On the other hand, we have witnessed a rapid development and implementation of holistic approaches to risks management in enterprises, unified in the modern business practice by the name of Enterprise Risk Management (ERM). Going along that line, the paper presents, through the basis of the EU New and Global Approach, the concept of risk assessment in the New Approach directives (Machinery, Lifts, ATEX, etc) and provides the concept of its integration into the holistic approach of risks management in enterprises, such as ERM.
PB  - Ekonomski institut, Beograd
T2  - Industrija
T1  - Risk assessment concept in the new approach directives and its integration in the Enterprise Risk Management (ERM)
EP  - 38
IS  - 1
SP  - 3
VL  - 40
UR  - https://hdl.handle.net/21.15107/rcub_machinery_1361
ER  - 

@article{
author = "Đapić, Mirko and Popović, Predrag and Lukić, Ljubomir and Mitrović, Radivoje",
year = "2012",
abstract = "Evropska Unija je početkom devedesetih godina prošlog veka, kroz uvođenje Novog i Globalnog pristupa tehničkoj harmonizaciji i standardizaciji, ostvarila značajno unapređenje u postupku ocenjivanja usaglašenosti proizvoda na taj način što je zahteve za bezbednost tehničkih proizvoda integrisala u proces projektovanja. To je postignuto tako što se u procesu projektovanja preventivno analiziraju i kvantifikuju nivoi rizika u cilju određivanja obima potrebnih sistema bezbednosti. S druge strane, svedoci smo rapidnog razvoja i implementacije holističkih pristupa upravljanju rizicima u preduzeću koji je u savremenoj poslovnoj praksi objedinjen nazivom Menadžment rizika preduzeća (ERM - Enterprise Risk Menagment). Sledeći to u radu se preko osnova Novog i Globalnog pristupa Evropske Unije predstavlja koncept ocene rizika u direktivama Novog pristupa (mašinska, ATEX, liftovi) i daje koncept njegove integracije u holistički pristup upravljanju rizicima u preduzeću kakav je ERM., In the nineties years of the previous century, the European Union achieved, through introducing the New and Global Approach to technical harmonization and standardization, a significant improvement in the approach to conformity assessment of products, by integrating the requirements for technical products safety into the process of its designing. This was achieved by preventive analyzing and quantifying of risk levels in the design process with the objective of determining the scope of the needed safety systems. On the other hand, we have witnessed a rapid development and implementation of holistic approaches to risks management in enterprises, unified in the modern business practice by the name of Enterprise Risk Management (ERM). Going along that line, the paper presents, through the basis of the EU New and Global Approach, the concept of risk assessment in the New Approach directives (Machinery, Lifts, ATEX, etc) and provides the concept of its integration into the holistic approach of risks management in enterprises, such as ERM.",
publisher = "Ekonomski institut, Beograd",
journal = "Industrija",
title = "Risk assessment concept in the new approach directives and its integration in the Enterprise Risk Management (ERM)",
pages = "38-3",
number = "1",
volume = "40",
url = "https://hdl.handle.net/21.15107/rcub_machinery_1361"
}

Đapić, M., Popović, P., Lukić, L.,& Mitrović, R.. (2012). Risk assessment concept in the new approach directives and its integration in the Enterprise Risk Management (ERM). in Industrija
Ekonomski institut, Beograd., 40(1), 3-38.
https://hdl.handle.net/21.15107/rcub_machinery_1361

Đapić M, Popović P, Lukić L, Mitrović R. Risk assessment concept in the new approach directives and its integration in the Enterprise Risk Management (ERM). in Industrija. 2012;40(1):3-38.
https://hdl.handle.net/21.15107/rcub_machinery_1361 .

Đapić, Mirko, Popović, Predrag, Lukić, Ljubomir, Mitrović, Radivoje, "Risk assessment concept in the new approach directives and its integration in the Enterprise Risk Management (ERM)" in Industrija, 40, no. 1 (2012):3-38,
https://hdl.handle.net/21.15107/rcub_machinery_1361 .

TY  - JOUR
AU  - Dančuo, Zorana
AU  - Željković, Vladimir
AU  - Rašuo, Boško
AU  - Đapić, Mirko
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1422
AB  - U ovom radu predstavljeni su profili za obuku u humanoj centrifugi visokih performansi. Glavni cilj je da se istakne značaj razvoja različitih trening scenarija, kako bi se postigla optimalna spremnost pilota borbenih aviona. Ovo istraživanje bazirano je na standardu NATO STANAG 3827 AMD-a, koji propisuje vrednosti G tolerancija, koju posada treba da podnese. Posada koja ne završi uspešno trening Rapid Onset Rate (ROR) 7G za 15 sekundi sa anti-G odelom i Anti-G Straining maneuver-om (AGSM), smatraće se da ima nizak prag tolerancije na G opterećenje, što je objašnjeno detaljno u ovom radu. Profili za obuku su grafički predstavljeni, kao i ugaona brzina kraka, ugao valjanja i ugao propinjanja-poniranja za svaku vrednost opterećenja. Glavni zahtev humane centrifuge predstavljene u ovom radu, je da se postigne gradijent ubrzanja od 9G/s. Profili koji su prikazani u ovom radu su deo istraživanja Lola Instituta u Beogradu. U radu su dati i primeri scenarija za obuku pilota koji se primenjuju u nekoliko zemalja. G opterećenja koja prouzrokuju gubitak svesti kod pilota (G-LOC) su deo scenarija i neizbežna su tokom treninga u centrifugi. Efektivna obuka AGSM i povećanje G-tolerancija pilota, doprinose bezbednosti leta i na taj način se smanjuje rizik od G-LOC i vazduhoplovnih nesreća. Cilj ovog rada je da ilustruje značaj i složenost upravljanja i podešavanja parametara rada, kako bi se postiglo željeno opterećenje. .
AB  - In this paper, profiles for training in a High Performance Human Centrifuge (HPHC) are presented. The main objective is to underline the significance of developing various training scenarios in order to achieve optimal preparedness of fighter pilots. This research is based on the NATO STANAG 3827 AMD, a standard that provides values of G tolerance that an aircrew must sustain. An aircrew who do not successfully complete a Rapid Onset Rate (ROR) 7G for 15 seconds centrifuge profile with anti-G suit and straining maneuver will be considered to have low G tolerance, which is explained in detail in this paper. Training profiles are presented graphically, as well as arm angular velocity, roll and pitch angle for each load. The main demand for the Human Centrifuge presented in this paper is to achieve an onset rate of 9G/s. The graphs in this paper are a part of the research conducted in the Lola Institute Belgrade. The examples of training scenarios of several countries are given briefly. G-Induced Loss of Consciousness (G-LOC) episodes are unavoidable during centrifuge training. Effective training of Anti-G Straining Maneuver (AGSM) and increasing pilots G-tolerance contribute to flight safety and thereby reduce the risk of G-LOC and aircraft accidents. The aim of this paper is to illustrate the complexity of parameter settings in order to achieve desired loads. .
PB  - Vojnotehnički institut, Beograd
T2  - Scientific Technical Review
T1  - G profili za obuku u humanoj centrifugi visokih performansi
T1  - High G training profiles in a high performance human centrifuge
EP  - 69
IS  - 1
SP  - 64
VL  - 62
UR  - https://hdl.handle.net/21.15107/rcub_machinery_1422
ER  - 

@article{
author = "Dančuo, Zorana and Željković, Vladimir and Rašuo, Boško and Đapić, Mirko",
year = "2012",
abstract = "U ovom radu predstavljeni su profili za obuku u humanoj centrifugi visokih performansi. Glavni cilj je da se istakne značaj razvoja različitih trening scenarija, kako bi se postigla optimalna spremnost pilota borbenih aviona. Ovo istraživanje bazirano je na standardu NATO STANAG 3827 AMD-a, koji propisuje vrednosti G tolerancija, koju posada treba da podnese. Posada koja ne završi uspešno trening Rapid Onset Rate (ROR) 7G za 15 sekundi sa anti-G odelom i Anti-G Straining maneuver-om (AGSM), smatraće se da ima nizak prag tolerancije na G opterećenje, što je objašnjeno detaljno u ovom radu. Profili za obuku su grafički predstavljeni, kao i ugaona brzina kraka, ugao valjanja i ugao propinjanja-poniranja za svaku vrednost opterećenja. Glavni zahtev humane centrifuge predstavljene u ovom radu, je da se postigne gradijent ubrzanja od 9G/s. Profili koji su prikazani u ovom radu su deo istraživanja Lola Instituta u Beogradu. U radu su dati i primeri scenarija za obuku pilota koji se primenjuju u nekoliko zemalja. G opterećenja koja prouzrokuju gubitak svesti kod pilota (G-LOC) su deo scenarija i neizbežna su tokom treninga u centrifugi. Efektivna obuka AGSM i povećanje G-tolerancija pilota, doprinose bezbednosti leta i na taj način se smanjuje rizik od G-LOC i vazduhoplovnih nesreća. Cilj ovog rada je da ilustruje značaj i složenost upravljanja i podešavanja parametara rada, kako bi se postiglo željeno opterećenje. ., In this paper, profiles for training in a High Performance Human Centrifuge (HPHC) are presented. The main objective is to underline the significance of developing various training scenarios in order to achieve optimal preparedness of fighter pilots. This research is based on the NATO STANAG 3827 AMD, a standard that provides values of G tolerance that an aircrew must sustain. An aircrew who do not successfully complete a Rapid Onset Rate (ROR) 7G for 15 seconds centrifuge profile with anti-G suit and straining maneuver will be considered to have low G tolerance, which is explained in detail in this paper. Training profiles are presented graphically, as well as arm angular velocity, roll and pitch angle for each load. The main demand for the Human Centrifuge presented in this paper is to achieve an onset rate of 9G/s. The graphs in this paper are a part of the research conducted in the Lola Institute Belgrade. The examples of training scenarios of several countries are given briefly. G-Induced Loss of Consciousness (G-LOC) episodes are unavoidable during centrifuge training. Effective training of Anti-G Straining Maneuver (AGSM) and increasing pilots G-tolerance contribute to flight safety and thereby reduce the risk of G-LOC and aircraft accidents. The aim of this paper is to illustrate the complexity of parameter settings in order to achieve desired loads. .",
publisher = "Vojnotehnički institut, Beograd",
journal = "Scientific Technical Review",
title = "G profili za obuku u humanoj centrifugi visokih performansi, High G training profiles in a high performance human centrifuge",
pages = "69-64",
number = "1",
volume = "62",
url = "https://hdl.handle.net/21.15107/rcub_machinery_1422"
}

Dančuo, Z., Željković, V., Rašuo, B.,& Đapić, M.. (2012). G profili za obuku u humanoj centrifugi visokih performansi. in Scientific Technical Review
Vojnotehnički institut, Beograd., 62(1), 64-69.
https://hdl.handle.net/21.15107/rcub_machinery_1422

Dančuo Z, Željković V, Rašuo B, Đapić M. G profili za obuku u humanoj centrifugi visokih performansi. in Scientific Technical Review. 2012;62(1):64-69.
https://hdl.handle.net/21.15107/rcub_machinery_1422 .

Dančuo, Zorana, Željković, Vladimir, Rašuo, Boško, Đapić, Mirko, "G profili za obuku u humanoj centrifugi visokih performansi" in Scientific Technical Review, 62, no. 1 (2012):64-69,
https://hdl.handle.net/21.15107/rcub_machinery_1422 .

TY  - CONF
AU  - Kalajdžić, Milisav
AU  - Babić, Bojan
AU  - Miljković, Zoran
AU  - Kokotović, Branko
AU  - Popović, Mihajlo
AU  - Lukić, Ljubomir
AU  - Đapić, Mirko
AU  - Radiša, Radomir
AU  - Uzunović, Slađana
AU  - Slavković, Radomir
PY  - 2008
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6444
AB  - Rad, pored toga što daje rekapitulaciju sprovedenih opsežnih istraživanja koja se odnose na automatizovano projektovanje obradnih sistema i tehnoloških procesa u industriji prerade metala, posebno prezentira naučne rezultate u domenu razvoja automatizovanog tehnološkog prepoznavanja mašinskih delova, zasnovanog na primeni veštačkih neuronskih mreža. Značajan naučni doprinos u ovom radovu odnosi se na implementaciju i verifikaciju softvera sopstvenog razvoja „BPnet_V1.0”, koji je korišćen tokom tehnološkog prepoznavanja tipskih tehnoloških formi na prizmatičnim delovima, čime je potvrđena njegova široka primena, kao i važna upotrebna vrednost u razvoju naučnog podmlatka izražena kroz izradu njihovih magistarskih teza.
AB  - This paper, in addition to giving a recapitulation of the extensive research conducted related to the automated design of machining systems and manufacturing processes in the metal processing industry, especially presents scientific results in the field of the development of automated feature recognition of machine parts, based on the application of artificial neural networks. A significant scientific contribution in this work refers to the implementation and verification of the self-developed software "BPnet_V1.0", which was used during the feature recognition of typical manufacturing forms on prismatic parts, and confirmed its wide application as well as its important use value in the development of scientific research expressed through the preparation of master's theses realization.
PB  - JUPITER Asocijacija, Univerzitet u Beogradu - Mašinski fakultet
C3  - 34. JUPITER Konferencija, 30. simpozijum „NU-ROBOTI-FTS“, Zbornik radova / 34th JUPITER Conference, Proceedings - CD (in Serbian)
T1  - Имплементација аутоматизованог пројектовања обрадних система и процеса у индустрији прераде метала – Рекапитулација укупних резултата на пројекту ТР-6319Б
T1  - Automated Design Implementation of Machining Systems and Processes in Metalworking Industry
EP  - 3.163
SP  - 3.148
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6444
ER  - 

@conference{
author = "Kalajdžić, Milisav and Babić, Bojan and Miljković, Zoran and Kokotović, Branko and Popović, Mihajlo and Lukić, Ljubomir and Đapić, Mirko and Radiša, Radomir and Uzunović, Slađana and Slavković, Radomir",
year = "2008",
abstract = "Rad, pored toga što daje rekapitulaciju sprovedenih opsežnih istraživanja koja se odnose na automatizovano projektovanje obradnih sistema i tehnoloških procesa u industriji prerade metala, posebno prezentira naučne rezultate u domenu razvoja automatizovanog tehnološkog prepoznavanja mašinskih delova, zasnovanog na primeni veštačkih neuronskih mreža. Značajan naučni doprinos u ovom radovu odnosi se na implementaciju i verifikaciju softvera sopstvenog razvoja „BPnet_V1.0”, koji je korišćen tokom tehnološkog prepoznavanja tipskih tehnoloških formi na prizmatičnim delovima, čime je potvrđena njegova široka primena, kao i važna upotrebna vrednost u razvoju naučnog podmlatka izražena kroz izradu njihovih magistarskih teza., This paper, in addition to giving a recapitulation of the extensive research conducted related to the automated design of machining systems and manufacturing processes in the metal processing industry, especially presents scientific results in the field of the development of automated feature recognition of machine parts, based on the application of artificial neural networks. A significant scientific contribution in this work refers to the implementation and verification of the self-developed software "BPnet_V1.0", which was used during the feature recognition of typical manufacturing forms on prismatic parts, and confirmed its wide application as well as its important use value in the development of scientific research expressed through the preparation of master's theses realization.",
publisher = "JUPITER Asocijacija, Univerzitet u Beogradu - Mašinski fakultet",
journal = "34. JUPITER Konferencija, 30. simpozijum „NU-ROBOTI-FTS“, Zbornik radova / 34th JUPITER Conference, Proceedings - CD (in Serbian)",
title = "Имплементација аутоматизованог пројектовања обрадних система и процеса у индустрији прераде метала – Рекапитулација укупних резултата на пројекту ТР-6319Б, Automated Design Implementation of Machining Systems and Processes in Metalworking Industry",
pages = "3.163-3.148",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6444"
}

Kalajdžić, M., Babić, B., Miljković, Z., Kokotović, B., Popović, M., Lukić, L., Đapić, M., Radiša, R., Uzunović, S.,& Slavković, R.. (2008). Имплементација аутоматизованог пројектовања обрадних система и процеса у индустрији прераде метала – Рекапитулација укупних резултата на пројекту ТР-6319Б. in 34. JUPITER Konferencija, 30. simpozijum „NU-ROBOTI-FTS“, Zbornik radova / 34th JUPITER Conference, Proceedings - CD (in Serbian)
JUPITER Asocijacija, Univerzitet u Beogradu - Mašinski fakultet., 3.148-3.163.
https://hdl.handle.net/21.15107/rcub_machinery_6444

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Kalajdžić, Milisav, Babić, Bojan, Miljković, Zoran, Kokotović, Branko, Popović, Mihajlo, Lukić, Ljubomir, Đapić, Mirko, Radiša, Radomir, Uzunović, Slađana, Slavković, Radomir, "Имплементација аутоматизованог пројектовања обрадних система и процеса у индустрији прераде метала – Рекапитулација укупних резултата на пројекту ТР-6319Б" in 34. JUPITER Konferencija, 30. simpozijum „NU-ROBOTI-FTS“, Zbornik radova / 34th JUPITER Conference, Proceedings - CD (in Serbian) (2008):3.148-3.163,
https://hdl.handle.net/21.15107/rcub_machinery_6444 .