TY  - CONF
AU  - Perišić, Natalija
AU  - Jovanović, Radiša
AU  - Vesović, Mitra
AU  - Sretenović, Aleksandra
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7298
AB  - The use of artificial intelligence in modern agriculture is on the rise, due to the fact that it provides a possibility for more efficient production, better decision making and reduction of the costs. This research takes into consideration the use of the convolutional neural networks for diagnosing plant illnesses based on the leaf image. Detection of plant diseases in the early phase can improve the quality of the food products and minimize the loses. Convolutional neural networks are a type of deep learning method that is one of the most used models for solving image recognition, classification and detection tasks. Therefore, it is justified to anticipate that they can be very effectively applied in the agriculture sector. This paper covers plant species that are the most significant for Serbian production. Various models have been presented and analyzed, while highlighting their advantages and disadvantages when applied for solving this task.
C3  - ISAE 2023
T1  - Overview of the use of convolutional neural networks in plant desease recognition based on the leaf image
EP  - 22
SP  - 13
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7298
ER  - 

@conference{
author = "Perišić, Natalija and Jovanović, Radiša and Vesović, Mitra and Sretenović, Aleksandra",
year = "2023",
abstract = "The use of artificial intelligence in modern agriculture is on the rise, due to the fact that it provides a possibility for more efficient production, better decision making and reduction of the costs. This research takes into consideration the use of the convolutional neural networks for diagnosing plant illnesses based on the leaf image. Detection of plant diseases in the early phase can improve the quality of the food products and minimize the loses. Convolutional neural networks are a type of deep learning method that is one of the most used models for solving image recognition, classification and detection tasks. Therefore, it is justified to anticipate that they can be very effectively applied in the agriculture sector. This paper covers plant species that are the most significant for Serbian production. Various models have been presented and analyzed, while highlighting their advantages and disadvantages when applied for solving this task.",
journal = "ISAE 2023",
title = "Overview of the use of convolutional neural networks in plant desease recognition based on the leaf image",
pages = "22-13",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7298"
}

Perišić, N., Jovanović, R., Vesović, M.,& Sretenović, A.. (2023). Overview of the use of convolutional neural networks in plant desease recognition based on the leaf image. in ISAE 2023, 13-22.
https://hdl.handle.net/21.15107/rcub_machinery_7298

Perišić N, Jovanović R, Vesović M, Sretenović A. Overview of the use of convolutional neural networks in plant desease recognition based on the leaf image. in ISAE 2023. 2023;:13-22.
https://hdl.handle.net/21.15107/rcub_machinery_7298 .

Perišić, Natalija, Jovanović, Radiša, Vesović, Mitra, Sretenović, Aleksandra, "Overview of the use of convolutional neural networks in plant desease recognition based on the leaf image" in ISAE 2023 (2023):13-22,
https://hdl.handle.net/21.15107/rcub_machinery_7298 .

TY  - CONF
AU  - Vesović, Mitra
AU  - Jovanović, Radiša
AU  - Perišić, Natalija
AU  - Sretenović, Aleksandra
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7297
AB  - Chamber dryers are widely used in various industries in order to remove the moisture from solid materials efficiently. Optimizing the design and operational parameters of chamber dryers plays a crucial role in enhancing their performance and energy efficiency. In order to maintain the temperature at the desired level, it is necessary to implement a good control system. To be able to facilitate the process of finding and setting parameters of the controller, for many control algorithms it is essential to make the reliable model of the object. The aim is to develop both reliable and accurate predictive model that can assist in optimizing the design, structures, and inspection processes of chamber dryers, which will lead to enhanced energy efficiency, harvesting and improved drying performance.
In this paper, the authors propose a novel approach for modeling heat flow transfer in chamber dryers using an Adaptive Neuro-Fuzzy Inference System (ANFIS). The Quanser chamber was selected as the object of the research because of how closely its geometry, material choice, and air flow resemble the structural properties of a dryer. To obtain the most realistic model possible, parameters of ANFIS were found using Particle Swarm Optimization algorithm. By incorporating historical operational data of experimental measurements, the ANFIS model can learn and adapt to the dynamic behavior of the dryer system.
C3  - ISAE 2023 - Proceedings ; The 6th International Symposium on Agricultural Engineering - ISAE 2023
19th - 21st October 2023, Belgrade, Serbia
T1  - Modelling heat-flow prototype dryer using ANFIS optimized by PSO
EP  - 228
SP  - 219
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7297
ER  - 

@conference{
author = "Vesović, Mitra and Jovanović, Radiša and Perišić, Natalija and Sretenović, Aleksandra",
year = "2023",
abstract = "Chamber dryers are widely used in various industries in order to remove the moisture from solid materials efficiently. Optimizing the design and operational parameters of chamber dryers plays a crucial role in enhancing their performance and energy efficiency. In order to maintain the temperature at the desired level, it is necessary to implement a good control system. To be able to facilitate the process of finding and setting parameters of the controller, for many control algorithms it is essential to make the reliable model of the object. The aim is to develop both reliable and accurate predictive model that can assist in optimizing the design, structures, and inspection processes of chamber dryers, which will lead to enhanced energy efficiency, harvesting and improved drying performance.
In this paper, the authors propose a novel approach for modeling heat flow transfer in chamber dryers using an Adaptive Neuro-Fuzzy Inference System (ANFIS). The Quanser chamber was selected as the object of the research because of how closely its geometry, material choice, and air flow resemble the structural properties of a dryer. To obtain the most realistic model possible, parameters of ANFIS were found using Particle Swarm Optimization algorithm. By incorporating historical operational data of experimental measurements, the ANFIS model can learn and adapt to the dynamic behavior of the dryer system.",
journal = "ISAE 2023 - Proceedings ; The 6th International Symposium on Agricultural Engineering - ISAE 2023
19th - 21st October 2023, Belgrade, Serbia",
title = "Modelling heat-flow prototype dryer using ANFIS optimized by PSO",
pages = "228-219",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7297"
}

Vesović, M., Jovanović, R., Perišić, N.,& Sretenović, A.. (2023). Modelling heat-flow prototype dryer using ANFIS optimized by PSO. in ISAE 2023 - Proceedings ; The 6th International Symposium on Agricultural Engineering - ISAE 2023
19th - 21st October 2023, Belgrade, Serbia, 219-228.
https://hdl.handle.net/21.15107/rcub_machinery_7297

Vesović M, Jovanović R, Perišić N, Sretenović A. Modelling heat-flow prototype dryer using ANFIS optimized by PSO. in ISAE 2023 - Proceedings ; The 6th International Symposium on Agricultural Engineering - ISAE 2023
19th - 21st October 2023, Belgrade, Serbia. 2023;:219-228.
https://hdl.handle.net/21.15107/rcub_machinery_7297 .

Vesović, Mitra, Jovanović, Radiša, Perišić, Natalija, Sretenović, Aleksandra, "Modelling heat-flow prototype dryer using ANFIS optimized by PSO" in ISAE 2023 - Proceedings ; The 6th International Symposium on Agricultural Engineering - ISAE 2023
19th - 21st October 2023, Belgrade, Serbia (2023):219-228,
https://hdl.handle.net/21.15107/rcub_machinery_7297 .

TY  - CONF
AU  - Vesović, Mitra
AU  - Jovanović, Radiša
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6957
AB  - This paper provides a nonlinear technique that uses a fuzzy inference system and neural networks for the identification purposes of heat flow transfer in the chamber. Firstly, linear models are obtained by transfer functions with delay using Matlab identification tools for heat exchange.
Three different transfer functions are provided (for three sensors in different positions along the chamber), and after it has been concluded that the second model has the smallest error, it is tested using different input. In this case, the linear model failed to represent the behaviour of the system precisely, making the error more than 1.5 C in the steady state. This was expected because linear models are trustworthy only around certain operating ranges. In order to make the new model, which will be unique and valid in the whole state space, another identification method using an adaptive neuro-fuzzy inference system (ANFIS) was presented. Furthermore, for the best performance, the ANFIS architecture was found using one of the most famous population-based optimizations: the genetic evolutionary algorithm. With two inputs and 70 parameters found by optimization (40 premises and 30 consequent) ANFIS greatly outperforms standard identification technique in terms of the mean square error. This nonlinear model was also tested on the different input, which was not used in the training process, and it was concluded that the nonlinear model identifies the real object with a neglectable error, which is 45 times smaller than the linear one.
PB  - Belgrade : Singidunum University
C3  - Sinteza 2023 - International Scientific Conference on Information Technology and Data Related Research, Belgrade, Singidunum University, Serbia, 2023, pp. 44-51
T1  - Heat Flow Process Identification Using ANFIS-GA Model
EP  - 51
SP  - 44
VL  - Computer Science and Artificial Intelligence Session
DO  - 10.15308/Sinteza-2023-44-51
ER  - 

@conference{
author = "Vesović, Mitra and Jovanović, Radiša",
year = "2023",
abstract = "This paper provides a nonlinear technique that uses a fuzzy inference system and neural networks for the identification purposes of heat flow transfer in the chamber. Firstly, linear models are obtained by transfer functions with delay using Matlab identification tools for heat exchange.
Three different transfer functions are provided (for three sensors in different positions along the chamber), and after it has been concluded that the second model has the smallest error, it is tested using different input. In this case, the linear model failed to represent the behaviour of the system precisely, making the error more than 1.5 C in the steady state. This was expected because linear models are trustworthy only around certain operating ranges. In order to make the new model, which will be unique and valid in the whole state space, another identification method using an adaptive neuro-fuzzy inference system (ANFIS) was presented. Furthermore, for the best performance, the ANFIS architecture was found using one of the most famous population-based optimizations: the genetic evolutionary algorithm. With two inputs and 70 parameters found by optimization (40 premises and 30 consequent) ANFIS greatly outperforms standard identification technique in terms of the mean square error. This nonlinear model was also tested on the different input, which was not used in the training process, and it was concluded that the nonlinear model identifies the real object with a neglectable error, which is 45 times smaller than the linear one.",
publisher = "Belgrade : Singidunum University",
journal = "Sinteza 2023 - International Scientific Conference on Information Technology and Data Related Research, Belgrade, Singidunum University, Serbia, 2023, pp. 44-51",
title = "Heat Flow Process Identification Using ANFIS-GA Model",
pages = "51-44",
volume = "Computer Science and Artificial Intelligence Session",
doi = "10.15308/Sinteza-2023-44-51"
}

Vesović, M.,& Jovanović, R.. (2023). Heat Flow Process Identification Using ANFIS-GA Model. in Sinteza 2023 - International Scientific Conference on Information Technology and Data Related Research, Belgrade, Singidunum University, Serbia, 2023, pp. 44-51
Belgrade : Singidunum University., Computer Science and Artificial Intelligence Session, 44-51.
https://doi.org/10.15308/Sinteza-2023-44-51

Vesović M, Jovanović R. Heat Flow Process Identification Using ANFIS-GA Model. in Sinteza 2023 - International Scientific Conference on Information Technology and Data Related Research, Belgrade, Singidunum University, Serbia, 2023, pp. 44-51. 2023;Computer Science and Artificial Intelligence Session:44-51.
doi:10.15308/Sinteza-2023-44-51 .

Vesović, Mitra, Jovanović, Radiša, "Heat Flow Process Identification Using ANFIS-GA Model" in Sinteza 2023 - International Scientific Conference on Information Technology and Data Related Research, Belgrade, Singidunum University, Serbia, 2023, pp. 44-51, Computer Science and Artificial Intelligence Session (2023):44-51,
https://doi.org/10.15308/Sinteza-2023-44-51 . .

TY  - JOUR
AU  - Vesović, Mitra
AU  - Jovanović, Radiša
AU  - Trišović, Nataša
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3770
AB  - The aim of this study is to investigate nonlinear DC motor behavior and to control velocity as output variable. The linear model is designed, but as it is experimentally verified that it does not describe the system well enough it is replaced by the nonlinear one. System's model has been obtained taking into account Coulomb and viscous friction in the firmly nonlinear environment. In the frame of the paper the dynamical analysis of the nonlinear feedback linearizing control is carried out. Furthermore, a metaheuristic optimization algorithm is set up for finding the coefficient of the proportional-integral feedback linearizing controller. For this purpose Gray wolf optimization technique is used. Moreover, after the introduction of the control law, analysis of the pole placement and stability of the system is establish. Optimized nonlinear control signal has been applied to the real object with simulated white noise and step signal as disturbances. Finally, for several desired output signals, responses with and without disruption are compared to illustrate the approach proposed in the paper. Experimental results obtained on the given system are provided and they verify nonlinear control robustness.
PB  - Sage Publications Ltd, London
T2  - Advances in Mechanical Engineering
T1  - Control of a DC motor using feedback linearization and gray wolf optimization algorithm
IS  - 3
VL  - 14
DO  - 10.1177/16878132221085324
ER  - 

@article{
author = "Vesović, Mitra and Jovanović, Radiša and Trišović, Nataša",
year = "2022",
abstract = "The aim of this study is to investigate nonlinear DC motor behavior and to control velocity as output variable. The linear model is designed, but as it is experimentally verified that it does not describe the system well enough it is replaced by the nonlinear one. System's model has been obtained taking into account Coulomb and viscous friction in the firmly nonlinear environment. In the frame of the paper the dynamical analysis of the nonlinear feedback linearizing control is carried out. Furthermore, a metaheuristic optimization algorithm is set up for finding the coefficient of the proportional-integral feedback linearizing controller. For this purpose Gray wolf optimization technique is used. Moreover, after the introduction of the control law, analysis of the pole placement and stability of the system is establish. Optimized nonlinear control signal has been applied to the real object with simulated white noise and step signal as disturbances. Finally, for several desired output signals, responses with and without disruption are compared to illustrate the approach proposed in the paper. Experimental results obtained on the given system are provided and they verify nonlinear control robustness.",
publisher = "Sage Publications Ltd, London",
journal = "Advances in Mechanical Engineering",
title = "Control of a DC motor using feedback linearization and gray wolf optimization algorithm",
number = "3",
volume = "14",
doi = "10.1177/16878132221085324"
}

Vesović, M., Jovanović, R.,& Trišović, N.. (2022). Control of a DC motor using feedback linearization and gray wolf optimization algorithm. in Advances in Mechanical Engineering
Sage Publications Ltd, London., 14(3).
https://doi.org/10.1177/16878132221085324

Vesović M, Jovanović R, Trišović N. Control of a DC motor using feedback linearization and gray wolf optimization algorithm. in Advances in Mechanical Engineering. 2022;14(3).
doi:10.1177/16878132221085324 .

Vesović, Mitra, Jovanović, Radiša, Trišović, Nataša, "Control of a DC motor using feedback linearization and gray wolf optimization algorithm" in Advances in Mechanical Engineering, 14, no. 3 (2022),
https://doi.org/10.1177/16878132221085324 . .

TY  - CONF
AU  - Vesović, Mitra
AU  - Jovanović, Radiša
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4546
AB  - Several studies dealing with position control of the DC motor have reported 
issues concerning friction force. This article demonstrates a nonlinear control 
and optimization strategy for position control of a series servo motor. Once it is 
empirically verified that the linear model does not adequately reflect the system, 
the model is upgraded from linear to nonlinear. In the course of the research, 
the nonlinear feedback linearizing the controller's behavior is examined. A grey 
wolf metaheuristic optimization algorithm is used to find the coefficients of the 
controller's gains. In this way, modern methods are applied to take a fresh look 
at the existing problem.  Furthermore, performance for various targeted output 
signals is compared to show the approach proposed in the study. Also, a compara-
tive analysis with whale optimization algorithm is performed. The experimental 
results acquired on the stated system are shown, and they validate the usage of the 
nonlinear control, demonstrating the effectiveness of using optimum feedback 
linearization in electrical machines.
PB  - Belgrade :  Singidunum University
C3  - Sinteza 2022-International Scientific Conference on Information Technology and Data Related Research
T1  - GREY WOLF OPTIMIZATION FOR POSITION CONTROL OF A DIRECT CURRENT MOTOR DRIVEN  BY FEEDBACK LINEARIZATION METHOD
EP  - 43
SP  - THEORETICAL COMPUTER SCIENCE AND ARTIFICIAL INTELLIGENCE SESSION pp. 36
DO  - 10.15308/Sinteza-2022-36-43
ER  - 

@conference{
author = "Vesović, Mitra and Jovanović, Radiša",
year = "2022",
abstract = "Several studies dealing with position control of the DC motor have reported 
issues concerning friction force. This article demonstrates a nonlinear control 
and optimization strategy for position control of a series servo motor. Once it is 
empirically verified that the linear model does not adequately reflect the system, 
the model is upgraded from linear to nonlinear. In the course of the research, 
the nonlinear feedback linearizing the controller's behavior is examined. A grey 
wolf metaheuristic optimization algorithm is used to find the coefficients of the 
controller's gains. In this way, modern methods are applied to take a fresh look 
at the existing problem.  Furthermore, performance for various targeted output 
signals is compared to show the approach proposed in the study. Also, a compara-
tive analysis with whale optimization algorithm is performed. The experimental 
results acquired on the stated system are shown, and they validate the usage of the 
nonlinear control, demonstrating the effectiveness of using optimum feedback 
linearization in electrical machines.",
publisher = "Belgrade :  Singidunum University",
journal = "Sinteza 2022-International Scientific Conference on Information Technology and Data Related Research",
title = "GREY WOLF OPTIMIZATION FOR POSITION CONTROL OF A DIRECT CURRENT MOTOR DRIVEN  BY FEEDBACK LINEARIZATION METHOD",
pages = "43-THEORETICAL COMPUTER SCIENCE AND ARTIFICIAL INTELLIGENCE SESSION pp. 36",
doi = "10.15308/Sinteza-2022-36-43"
}

Vesović, M.,& Jovanović, R.. (2022). GREY WOLF OPTIMIZATION FOR POSITION CONTROL OF A DIRECT CURRENT MOTOR DRIVEN  BY FEEDBACK LINEARIZATION METHOD. in Sinteza 2022-International Scientific Conference on Information Technology and Data Related Research
Belgrade :  Singidunum University., THEORETICAL COMPUTER SCIENCE AND ARTIFICIAL INTELLIGENCE SESSION pp. 36-43.
https://doi.org/10.15308/Sinteza-2022-36-43

Vesović M, Jovanović R. GREY WOLF OPTIMIZATION FOR POSITION CONTROL OF A DIRECT CURRENT MOTOR DRIVEN  BY FEEDBACK LINEARIZATION METHOD. in Sinteza 2022-International Scientific Conference on Information Technology and Data Related Research. 2022;:THEORETICAL COMPUTER SCIENCE AND ARTIFICIAL INTELLIGENCE SESSION pp. 36-43.
doi:10.15308/Sinteza-2022-36-43 .

Vesović, Mitra, Jovanović, Radiša, "GREY WOLF OPTIMIZATION FOR POSITION CONTROL OF A DIRECT CURRENT MOTOR DRIVEN  BY FEEDBACK LINEARIZATION METHOD" in Sinteza 2022-International Scientific Conference on Information Technology and Data Related Research (2022):THEORETICAL COMPUTER SCIENCE AND ARTIFICIAL INTELLIGENCE SESSION pp. 36-43,
https://doi.org/10.15308/Sinteza-2022-36-43 . .

TY  - CONF
AU  - Jovanović, Radiša
AU  - Bugarić, Uglješa
AU  - Vesović, Mitra
AU  - Perišić, Natalija
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4544
AB  - Рад на пројекту Deep Machine Learning and Swarm Intelligence based Optimization Algorithms for Control and Scheduling of Cyber‐Physical Systems in Industry 4.0 – MISSION4.0 је у оквиру једног од радних пакета подразумевао истраживање у области нелинеарних проблема оптимизације и управљања кретања захватног механизама у присуству ограничења. У циљу постизања задате путање врха захватног механизма, пројектовани су управљачки системи засновани на фази логици у управљању, чији параметри су оптимизовани применом различитих метахеуристичких метода оптимизације. Примена предложених техника управљања приказана је на примеру захватног механизма аутономног мобилног робота. Други део истраживања односио се на управљање брзине и позиције мотора једносмерене струје, као главног покретача захватног механизма, где су примењене различите технике управљања: фази управљање, техника feedback линеаризације, као и њихове оптимизоване верзије различитим метахеуристичким алгоритмима. У овом раду даје се преглед једног дела резултата пројекта MISSION4.0, објављених у различитим међународним и националним часописима и конференцијама, као и преглед резултата приказаних у техничком решењу.
AB  - One of the work packages in the project Deep Machine Learning and Swarm Intelligence based Optimization Algorithms for Control and Scheduling of Cyber-Physical Systems in Industry 4.0 - MISSION4.0 included research in the field of nonlinear optimization problems and control of the motion of the gripping mechanism in the presence of constraints. In order to achieve the proposed path of the gripping mechanism, control systems based on fuzzy logic, were designed and their parameters were optimized using various metaheuristic optimization methods. The application of the proposed control techniques is shown on the example of the gripping mechanism of an autonomous mobile robot. The second part of the research was related to the control of the speed and position of the direct current motor, as the main actuator of the gripping mechanism, where different control techniques were applied: fuzzy control, feedback linearization technique, as well as their optimized versions with different metaheuristic algorithms. This paper provides an overview of a part of the results of the MISSION4.0 project, published in various international and national journals and conferences, as well as an overview of the results presented in the technical report.
PB  - Univerzitet u Beogradu - Mašinski fakultet
C3  - 43. JUPITER KONFERENCIJA sa međunarodnim učešćem ZBORNIK RADOVA/ 43rd JUPITER CONFERENCE with foreign participants PROCEEDINGS / 39. simpozijum: NU - ROBOTI - FTS
T1  - ФАЗИ И НЕЛИНЕАРНО УПРАВЉАЊЕ ЗАХВАТНОГ МЕХАНИЗМА И МОТОРА ЈЕДНОСМЕРНЕ СТРУЈЕ - ПРЕГЛЕД РЕЗУЛТАТА ИСТРАЖИВАЊА У ОКВИРУ ПРОЈЕКТА MISSION4.0
EP  - 3.38
SP  - NU - ROBOTI - FTS pp. 3.26
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4544
ER  - 

@conference{
author = "Jovanović, Radiša and Bugarić, Uglješa and Vesović, Mitra and Perišić, Natalija",
year = "2022",
abstract = "Рад на пројекту Deep Machine Learning and Swarm Intelligence based Optimization Algorithms for Control and Scheduling of Cyber‐Physical Systems in Industry 4.0 – MISSION4.0 је у оквиру једног од радних пакета подразумевао истраживање у области нелинеарних проблема оптимизације и управљања кретања захватног механизама у присуству ограничења. У циљу постизања задате путање врха захватног механизма, пројектовани су управљачки системи засновани на фази логици у управљању, чији параметри су оптимизовани применом различитих метахеуристичких метода оптимизације. Примена предложених техника управљања приказана је на примеру захватног механизма аутономног мобилног робота. Други део истраживања односио се на управљање брзине и позиције мотора једносмерене струје, као главног покретача захватног механизма, где су примењене различите технике управљања: фази управљање, техника feedback линеаризације, као и њихове оптимизоване верзије различитим метахеуристичким алгоритмима. У овом раду даје се преглед једног дела резултата пројекта MISSION4.0, објављених у различитим међународним и националним часописима и конференцијама, као и преглед резултата приказаних у техничком решењу., One of the work packages in the project Deep Machine Learning and Swarm Intelligence based Optimization Algorithms for Control and Scheduling of Cyber-Physical Systems in Industry 4.0 - MISSION4.0 included research in the field of nonlinear optimization problems and control of the motion of the gripping mechanism in the presence of constraints. In order to achieve the proposed path of the gripping mechanism, control systems based on fuzzy logic, were designed and their parameters were optimized using various metaheuristic optimization methods. The application of the proposed control techniques is shown on the example of the gripping mechanism of an autonomous mobile robot. The second part of the research was related to the control of the speed and position of the direct current motor, as the main actuator of the gripping mechanism, where different control techniques were applied: fuzzy control, feedback linearization technique, as well as their optimized versions with different metaheuristic algorithms. This paper provides an overview of a part of the results of the MISSION4.0 project, published in various international and national journals and conferences, as well as an overview of the results presented in the technical report.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet",
journal = "43. JUPITER KONFERENCIJA sa međunarodnim učešćem ZBORNIK RADOVA/ 43rd JUPITER CONFERENCE with foreign participants PROCEEDINGS / 39. simpozijum: NU - ROBOTI - FTS",
title = "ФАЗИ И НЕЛИНЕАРНО УПРАВЉАЊЕ ЗАХВАТНОГ МЕХАНИЗМА И МОТОРА ЈЕДНОСМЕРНЕ СТРУЈЕ - ПРЕГЛЕД РЕЗУЛТАТА ИСТРАЖИВАЊА У ОКВИРУ ПРОЈЕКТА MISSION4.0",
pages = "3.38-NU - ROBOTI - FTS pp. 3.26",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4544"
}

Jovanović, R., Bugarić, U., Vesović, M.,& Perišić, N.. (2022). ФАЗИ И НЕЛИНЕАРНО УПРАВЉАЊЕ ЗАХВАТНОГ МЕХАНИЗМА И МОТОРА ЈЕДНОСМЕРНЕ СТРУЈЕ - ПРЕГЛЕД РЕЗУЛТАТА ИСТРАЖИВАЊА У ОКВИРУ ПРОЈЕКТА MISSION4.0. in 43. JUPITER KONFERENCIJA sa međunarodnim učešćem ZBORNIK RADOVA/ 43rd JUPITER CONFERENCE with foreign participants PROCEEDINGS / 39. simpozijum: NU - ROBOTI - FTS
Univerzitet u Beogradu - Mašinski fakultet., NU - ROBOTI - FTS pp. 3.26-3.38.
https://hdl.handle.net/21.15107/rcub_machinery_4544

Jovanović R, Bugarić U, Vesović M, Perišić N. ФАЗИ И НЕЛИНЕАРНО УПРАВЉАЊЕ ЗАХВАТНОГ МЕХАНИЗМА И МОТОРА ЈЕДНОСМЕРНЕ СТРУЈЕ - ПРЕГЛЕД РЕЗУЛТАТА ИСТРАЖИВАЊА У ОКВИРУ ПРОЈЕКТА MISSION4.0. in 43. JUPITER KONFERENCIJA sa međunarodnim učešćem ZBORNIK RADOVA/ 43rd JUPITER CONFERENCE with foreign participants PROCEEDINGS / 39. simpozijum: NU - ROBOTI - FTS. 2022;:NU - ROBOTI - FTS pp. 3.26-3.38.
https://hdl.handle.net/21.15107/rcub_machinery_4544 .

Jovanović, Radiša, Bugarić, Uglješa, Vesović, Mitra, Perišić, Natalija, "ФАЗИ И НЕЛИНЕАРНО УПРАВЉАЊЕ ЗАХВАТНОГ МЕХАНИЗМА И МОТОРА ЈЕДНОСМЕРНЕ СТРУЈЕ - ПРЕГЛЕД РЕЗУЛТАТА ИСТРАЖИВАЊА У ОКВИРУ ПРОЈЕКТА MISSION4.0" in 43. JUPITER KONFERENCIJA sa međunarodnim učešćem ZBORNIK RADOVA/ 43rd JUPITER CONFERENCE with foreign participants PROCEEDINGS / 39. simpozijum: NU - ROBOTI - FTS (2022):NU - ROBOTI - FTS pp. 3.26-3.38,
https://hdl.handle.net/21.15107/rcub_machinery_4544 .

TY  - CONF
AU  - Jovanović, Radiša
AU  - Vesović, Mitra
AU  - Perišić, Natalija
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4501
AB  - In this paper a novel metaheuristic method, artificial gorilla troops optimizer, is used in order to optimize classical proportional-integral controller for liquid level system, that has wide application in many industries. In optimization process nonlinear model of the system is used. Obtained results are provided. It is shown that optimized controller represents superior solution compared to classical controller.
PB  - University of Belgrade Faculty of Mechanical Engineering
C3  - 8th International Conference of Industrial Engineering SIE 2022 : Proceedings, 29th-30th September, 2022, Belgrade, Serbia
T1  - PI controller optimization by artificial gorilla troops for liquid level control
EP  - 93
SP  - 90
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4501
ER  - 

@conference{
author = "Jovanović, Radiša and Vesović, Mitra and Perišić, Natalija",
year = "2022",
abstract = "In this paper a novel metaheuristic method, artificial gorilla troops optimizer, is used in order to optimize classical proportional-integral controller for liquid level system, that has wide application in many industries. In optimization process nonlinear model of the system is used. Obtained results are provided. It is shown that optimized controller represents superior solution compared to classical controller.",
publisher = "University of Belgrade Faculty of Mechanical Engineering",
journal = "8th International Conference of Industrial Engineering SIE 2022 : Proceedings, 29th-30th September, 2022, Belgrade, Serbia",
title = "PI controller optimization by artificial gorilla troops for liquid level control",
pages = "93-90",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4501"
}

Jovanović, R., Vesović, M.,& Perišić, N.. (2022). PI controller optimization by artificial gorilla troops for liquid level control. in 8th International Conference of Industrial Engineering SIE 2022 : Proceedings, 29th-30th September, 2022, Belgrade, Serbia
University of Belgrade Faculty of Mechanical Engineering., 90-93.
https://hdl.handle.net/21.15107/rcub_machinery_4501

Jovanović R, Vesović M, Perišić N. PI controller optimization by artificial gorilla troops for liquid level control. in 8th International Conference of Industrial Engineering SIE 2022 : Proceedings, 29th-30th September, 2022, Belgrade, Serbia. 2022;:90-93.
https://hdl.handle.net/21.15107/rcub_machinery_4501 .

Jovanović, Radiša, Vesović, Mitra, Perišić, Natalija, "PI controller optimization by artificial gorilla troops for liquid level control" in 8th International Conference of Industrial Engineering SIE 2022 : Proceedings, 29th-30th September, 2022, Belgrade, Serbia (2022):90-93,
https://hdl.handle.net/21.15107/rcub_machinery_4501 .

TY  - JOUR
AU  - Jovanović, Radiša
AU  - Bugarić, Uglješa
AU  - Vesović, Mitra 
AU  - Perišić, Natalija
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4516
AB  - This paper presents the proportional–derivative fuzzy controller for
trajectory tracking of the gripping mechanism with two degrees of
freedom. Aiming to achieve movement of the gripping mechanism without
sudden starting and stopping, a polynomial velocity profile is utilized. The
African vultures optimization, as one of the latest metaheuristic
algorithms, is used to obtain the optimal input/output scaling gains of the
proposed fuzzy controller according to the selected fitness function. The
results obtained by this algorithm are compared with the other three new
and popular metaheuristic algorithms: the whale optimization, the ant lion
optimization and the sine cosine algorithm. Moreover, a simulation study
was done for the defined initial position and for the scenario where there is
a certain deviation because the gripping mechanism is not at its original
initial position. Finally, the robustness of the controller is tested for the
case when the masses of the segments increase three times. The results
revealed that the suggested controller was capable of dealing with
nonlinearities of the gripping mechanism, initial position and parameter
changes. The movement of the gripping mechanism is smooth and follows
the defined trajectory.
PB  - University of Belgrade - Faculty of Mechanical Engineering
T2  - FME Transactions
T1  - Fuzzy Controller Optimized by the African Vultures Algorithm for Trajectory Tracking of a Two–Link Gripping Mechanism
EP  - 501
IS  - 3
SP  - 491
VL  - 50
DO  - 10.5937/fme2203491J
ER  - 

@article{
author = "Jovanović, Radiša and Bugarić, Uglješa and Vesović, Mitra  and Perišić, Natalija",
year = "2022",
abstract = "This paper presents the proportional–derivative fuzzy controller for
trajectory tracking of the gripping mechanism with two degrees of
freedom. Aiming to achieve movement of the gripping mechanism without
sudden starting and stopping, a polynomial velocity profile is utilized. The
African vultures optimization, as one of the latest metaheuristic
algorithms, is used to obtain the optimal input/output scaling gains of the
proposed fuzzy controller according to the selected fitness function. The
results obtained by this algorithm are compared with the other three new
and popular metaheuristic algorithms: the whale optimization, the ant lion
optimization and the sine cosine algorithm. Moreover, a simulation study
was done for the defined initial position and for the scenario where there is
a certain deviation because the gripping mechanism is not at its original
initial position. Finally, the robustness of the controller is tested for the
case when the masses of the segments increase three times. The results
revealed that the suggested controller was capable of dealing with
nonlinearities of the gripping mechanism, initial position and parameter
changes. The movement of the gripping mechanism is smooth and follows
the defined trajectory.",
publisher = "University of Belgrade - Faculty of Mechanical Engineering",
journal = "FME Transactions",
title = "Fuzzy Controller Optimized by the African Vultures Algorithm for Trajectory Tracking of a Two–Link Gripping Mechanism",
pages = "501-491",
number = "3",
volume = "50",
doi = "10.5937/fme2203491J"
}

Jovanović, R., Bugarić, U., Vesović, M.,& Perišić, N.. (2022). Fuzzy Controller Optimized by the African Vultures Algorithm for Trajectory Tracking of a Two–Link Gripping Mechanism. in FME Transactions
University of Belgrade - Faculty of Mechanical Engineering., 50(3), 491-501.
https://doi.org/10.5937/fme2203491J

Jovanović R, Bugarić U, Vesović M, Perišić N. Fuzzy Controller Optimized by the African Vultures Algorithm for Trajectory Tracking of a Two–Link Gripping Mechanism. in FME Transactions. 2022;50(3):491-501.
doi:10.5937/fme2203491J .

Jovanović, Radiša, Bugarić, Uglješa, Vesović, Mitra , Perišić, Natalija, "Fuzzy Controller Optimized by the African Vultures Algorithm for Trajectory Tracking of a Two–Link Gripping Mechanism" in FME Transactions, 50, no. 3 (2022):491-501,
https://doi.org/10.5937/fme2203491J . .

TY  - JOUR
AU  - Vesović, Mitra
AU  - Jovanović, Radiša
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4547
AB  - Adaptivni neuro fazi sistemi zaključivanja (eng. Adaptive Neural Fuzzy Inference Systems) ANFIS imaju sve veću tendenciju upotrebe u naučnim istraživanjima i praktičnim primenama. Digitalizacija proizvodnje i pojava Industrije 4.0 omogućila je razvoj ovog trenda, pre svega, zbog sposobnosti prilagođavanja zadatku integrisanjem veštačkih neuronskih mreža i fazi logike, čime se potencijalno mogu iskoristiti prednosti obe tehnike u jedinstvenim okvirima. Ovaj pristup olakšao je procese modelovanja, analize podataka, klasifikacije i upravljanja. Pogodnost ANFIS sistema, u odnosu na konvencionalne metode, se ogleda u mogućnosti predviđanja izlaza na osnovu skupa ulaza i baze pravila. Takođe, ovi sistemi su pogodni za korišćenje u upravljanju, jer pružaju mogućnost za podešavanje parametara upravljačkog sistema. U ovom radu je predstavljena struktura ANFIS sistema i dat je detaljan prikaz dosadašnjih dostignuća, kroz komparativnu analizu, pri čemu su istaknute neke moguće sfere interdisciplinarne primene. Razmatrane su mogućnosti za varijacije, poboljšanja i inovacije algoritma, kao i smanjenja složenosti same arhitekture mreže. Prikazani su predlozi za neke nove, još neiskorišćene kombinacije sa metaheurističkim metodama optimizacije. Konačno, date su bitne smernice o tome kada i gde je korisno primeniti ANFIS sisteme.
PB  - Beograd : Savez inženjera i tehničara Srbije
T2  - Tehnika
T1  - Adaptivni neuro fazi sistemi u identifikaciji, modelovanju i upravljanju - pregled stanja u oblasti istraživanja
EP  - 446
IS  - 4
SP  - 439
VL  - 77
DO  - 10.5937/tehnika2204439V
ER  - 

@article{
author = "Vesović, Mitra and Jovanović, Radiša",
year = "2022",
abstract = "Adaptivni neuro fazi sistemi zaključivanja (eng. Adaptive Neural Fuzzy Inference Systems) ANFIS imaju sve veću tendenciju upotrebe u naučnim istraživanjima i praktičnim primenama. Digitalizacija proizvodnje i pojava Industrije 4.0 omogućila je razvoj ovog trenda, pre svega, zbog sposobnosti prilagođavanja zadatku integrisanjem veštačkih neuronskih mreža i fazi logike, čime se potencijalno mogu iskoristiti prednosti obe tehnike u jedinstvenim okvirima. Ovaj pristup olakšao je procese modelovanja, analize podataka, klasifikacije i upravljanja. Pogodnost ANFIS sistema, u odnosu na konvencionalne metode, se ogleda u mogućnosti predviđanja izlaza na osnovu skupa ulaza i baze pravila. Takođe, ovi sistemi su pogodni za korišćenje u upravljanju, jer pružaju mogućnost za podešavanje parametara upravljačkog sistema. U ovom radu je predstavljena struktura ANFIS sistema i dat je detaljan prikaz dosadašnjih dostignuća, kroz komparativnu analizu, pri čemu su istaknute neke moguće sfere interdisciplinarne primene. Razmatrane su mogućnosti za varijacije, poboljšanja i inovacije algoritma, kao i smanjenja složenosti same arhitekture mreže. Prikazani su predlozi za neke nove, još neiskorišćene kombinacije sa metaheurističkim metodama optimizacije. Konačno, date su bitne smernice o tome kada i gde je korisno primeniti ANFIS sisteme.",
publisher = "Beograd : Savez inženjera i tehničara Srbije",
journal = "Tehnika",
title = "Adaptivni neuro fazi sistemi u identifikaciji, modelovanju i upravljanju - pregled stanja u oblasti istraživanja",
pages = "446-439",
number = "4",
volume = "77",
doi = "10.5937/tehnika2204439V"
}

Vesović, M.,& Jovanović, R.. (2022). Adaptivni neuro fazi sistemi u identifikaciji, modelovanju i upravljanju - pregled stanja u oblasti istraživanja. in Tehnika
Beograd : Savez inženjera i tehničara Srbije., 77(4), 439-446.
https://doi.org/10.5937/tehnika2204439V

Vesović M, Jovanović R. Adaptivni neuro fazi sistemi u identifikaciji, modelovanju i upravljanju - pregled stanja u oblasti istraživanja. in Tehnika. 2022;77(4):439-446.
doi:10.5937/tehnika2204439V .

Vesović, Mitra, Jovanović, Radiša, "Adaptivni neuro fazi sistemi u identifikaciji, modelovanju i upravljanju - pregled stanja u oblasti istraživanja" in Tehnika, 77, no. 4 (2022):439-446,
https://doi.org/10.5937/tehnika2204439V . .

TY  - JOUR
AU  - Vesović, Mitra
AU  - Radulović, Radoslav
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3821
AB  - The production industries have repeatedly combated the problem of system modelling. Successful control of a system depends mainly on the exactness of the mathematical model that predicts its dynamic. Different types of studies are very common in the complicated challenges involving the estimations and approximations in describing nonlinear machines are based on a variety of studies. This article examines the behaviour and stability of holonomic mechanical system in the the arbitrary parameter sets and functional configuration of forces. Differential equations of the behaviour are obtained for the proposed system on the ground of general mechanical theorems, kinetic and potential energies of the system. Lagrange’s equations of the first and second kind are introduced, as well as the representation of the system in the generalized coordinates and in Hamilton’s equations. In addition to the numerical calculations applied the system, the theoretical structures and clarifications on which all of the methods rely on are also presented. Furthermore, static equilibriums are found via two different approaches: graphical and numerical. Above all, stability of motion of undisturbed system and, later, the system that works under the action of an external disturbance was inspected. Finally, the stability of motion is reviewed through Lagrange–Dirichlet theorem, and Routh and Hurwitz criteria. Linearized equations are obtained from the nonlinear ones, and previous conclusions for the stability were proved.
PB  - Srpsko društvo za mehaniku, Beograd
T2  - Theoretical and Applied Mechanics
T1  - Modelovanje i analiza stabilnosti datog nelinearnog sistema
T1  - Modelling and stability analysis of the nonlinear system
EP  - 48
IS  - 1
SP  - 29
VL  - 49
DO  - 10.2298/TAM211101003V
ER  - 

@article{
author = "Vesović, Mitra and Radulović, Radoslav",
year = "2022",
abstract = "The production industries have repeatedly combated the problem of system modelling. Successful control of a system depends mainly on the exactness of the mathematical model that predicts its dynamic. Different types of studies are very common in the complicated challenges involving the estimations and approximations in describing nonlinear machines are based on a variety of studies. This article examines the behaviour and stability of holonomic mechanical system in the the arbitrary parameter sets and functional configuration of forces. Differential equations of the behaviour are obtained for the proposed system on the ground of general mechanical theorems, kinetic and potential energies of the system. Lagrange’s equations of the first and second kind are introduced, as well as the representation of the system in the generalized coordinates and in Hamilton’s equations. In addition to the numerical calculations applied the system, the theoretical structures and clarifications on which all of the methods rely on are also presented. Furthermore, static equilibriums are found via two different approaches: graphical and numerical. Above all, stability of motion of undisturbed system and, later, the system that works under the action of an external disturbance was inspected. Finally, the stability of motion is reviewed through Lagrange–Dirichlet theorem, and Routh and Hurwitz criteria. Linearized equations are obtained from the nonlinear ones, and previous conclusions for the stability were proved.",
publisher = "Srpsko društvo za mehaniku, Beograd",
journal = "Theoretical and Applied Mechanics",
title = "Modelovanje i analiza stabilnosti datog nelinearnog sistema, Modelling and stability analysis of the nonlinear system",
pages = "48-29",
number = "1",
volume = "49",
doi = "10.2298/TAM211101003V"
}

Vesović, M.,& Radulović, R.. (2022). Modelovanje i analiza stabilnosti datog nelinearnog sistema. in Theoretical and Applied Mechanics
Srpsko društvo za mehaniku, Beograd., 49(1), 29-48.
https://doi.org/10.2298/TAM211101003V

Vesović M, Radulović R. Modelovanje i analiza stabilnosti datog nelinearnog sistema. in Theoretical and Applied Mechanics. 2022;49(1):29-48.
doi:10.2298/TAM211101003V .

Vesović, Mitra, Radulović, Radoslav, "Modelovanje i analiza stabilnosti datog nelinearnog sistema" in Theoretical and Applied Mechanics, 49, no. 1 (2022):29-48,
https://doi.org/10.2298/TAM211101003V . .

TY  - GEN
AU  - Jovanović, Radiša
AU  - Bugarić, Uglješa
AU  - Vesović, Mitra
AU  - Laban, Lara
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5648
AB  - Техничко решење се односи на решавање проблема оптималног управљања у смислу одређивања оптималне трајекторије, односно профила брзине кретања механизама транспортних машина, као и синтезу управљања за праћење задате оптималне трајекторије. Проблем оптималног кретања механизма захватног уређаја (његовог врха) спада у категорију нелинеарних проблема оптимизације у присуству ограничења. У циљу његовог решававања, неопходно је било урадити следеће: 1) математички моделовати динамичко понашање механизма захватног уређаја мобилног робота; 2) одредити оптималну трајекторију, односно профил брзине кретања механизма захватног уређаја; 3) пројектовати управљачки систем који омогућава праћење задате, оптималне трајекторије; 4) оптимизовати параметре управљачког система у циљу остваривања што је могуће мање грешке праћења. Применом методе принципа максимума одређен је оптимални профил брзине, односно оптимална трајекторија кретања, у смислу минимизације времена кретања механизама транспортних машина (захватних уређаја, целих машина или њених делова). Потом је имплементирано интелигентно, фази управљање кретања механизма у циљу остваривања дефинисане оптималне трајекторије, при чему је за оптимизацију параметара фази алгоритма управљања коришћена метахеуристичка метода оптимизације заснована на интелигенцији јата китова, као једна од најсавременијих. Експериментална верификација предложене методологије у овом техничком решењу приказана је на примеру аутономног мобилног робота, а добијени резултати су показали да је рад оптимизованог фази управљачког система веома задовољавајући, тако да се ова метода може успешно користити за задатке управљања у различитим техничким областима.
T2  - Техничко решење (M85) је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер
T1  - Оптимално управљање кретања захватног уређаја
T1  - Оптимално управљање кретања захватног уређаја
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5648
ER  - 

@misc{
author = "Jovanović, Radiša and Bugarić, Uglješa and Vesović, Mitra and Laban, Lara",
year = "2021",
abstract = "Техничко решење се односи на решавање проблема оптималног управљања у смислу одређивања оптималне трајекторије, односно профила брзине кретања механизама транспортних машина, као и синтезу управљања за праћење задате оптималне трајекторије. Проблем оптималног кретања механизма захватног уређаја (његовог врха) спада у категорију нелинеарних проблема оптимизације у присуству ограничења. У циљу његовог решававања, неопходно је било урадити следеће: 1) математички моделовати динамичко понашање механизма захватног уређаја мобилног робота; 2) одредити оптималну трајекторију, односно профил брзине кретања механизма захватног уређаја; 3) пројектовати управљачки систем који омогућава праћење задате, оптималне трајекторије; 4) оптимизовати параметре управљачког система у циљу остваривања што је могуће мање грешке праћења. Применом методе принципа максимума одређен је оптимални профил брзине, односно оптимална трајекторија кретања, у смислу минимизације времена кретања механизама транспортних машина (захватних уређаја, целих машина или њених делова). Потом је имплементирано интелигентно, фази управљање кретања механизма у циљу остваривања дефинисане оптималне трајекторије, при чему је за оптимизацију параметара фази алгоритма управљања коришћена метахеуристичка метода оптимизације заснована на интелигенцији јата китова, као једна од најсавременијих. Експериментална верификација предложене методологије у овом техничком решењу приказана је на примеру аутономног мобилног робота, а добијени резултати су показали да је рад оптимизованог фази управљачког система веома задовољавајући, тако да се ова метода може успешно користити за задатке управљања у различитим техничким областима.",
journal = "Техничко решење (M85) је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер",
title = "Оптимално управљање кретања захватног уређаја, Оптимално управљање кретања захватног уређаја",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5648"
}

Jovanović, R., Bugarić, U., Vesović, M.,& Laban, L.. (2021). Оптимално управљање кретања захватног уређаја. in Техничко решење (M85) је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер.
https://hdl.handle.net/21.15107/rcub_machinery_5648

Jovanović R, Bugarić U, Vesović M, Laban L. Оптимално управљање кретања захватног уређаја. in Техничко решење (M85) је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер. 2021;.
https://hdl.handle.net/21.15107/rcub_machinery_5648 .

Jovanović, Radiša, Bugarić, Uglješa, Vesović, Mitra, Laban, Lara, "Оптимално управљање кретања захватног уређаја" in Техничко решење (M85) је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер (2021),
https://hdl.handle.net/21.15107/rcub_machinery_5648 .

TY  - CONF
AU  - Vesović, Mitra
AU  - Radulović, Radoslav
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4542
AB  - The paper considers motion and stability of a holonomic mechanical system in the vertical 
plane of an arbitrary force field. Differential equations of motion are created for a given system on 
the basis of general theorems of dynamics. Insights into generalized coordinates, Lagrange’s 
equations of the second kind, covariant and Hamilton’s equations are presented. Additionally to 
numerical procedures in the paper, a review of the theoretical foundations is performed. Also, the 
conditions of static equilibrium are solved numerically and by applying the intersection of the two 
curves. The paper introduced kinetic as well as the potential energy of the system. The spatial 
arrangement of equilibrium positions and behavior of the potential energy in the environment of 
the equilibrium positions is shown. Finally, the stability of motion for analysis is approached 
through Lagrange - Dirichlet theorem. Moreover, special attention is paid to examining effects 
responses of the disturbed and undisturbed system. Nonlinear and linearized equations are obtained in order to check the stability of the system for disturbed and undisturbed motion using Hurwitz stability criterion. Various procedures are verificated by drawing the same conclusions.
PB  - Belgrade : Serbian Society of Mechanics
C3  - 8th International Congress of Serbian Society of Mechanics  Kragujevac, Serbia, June 28-30, 2021
T1  - BEHAVIOUR, EXAMINATION AND STABILITY OF THE CONSTRAINED  MECHANICAL SYSTEM DESCRIBED WITH NONLINEAR EQUATIONS
EP  - 63
SP  - Session M.5.2: General Mechanics (part II) pp. 54
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4542
ER  - 

@conference{
author = "Vesović, Mitra and Radulović, Radoslav",
year = "2021",
abstract = "The paper considers motion and stability of a holonomic mechanical system in the vertical 
plane of an arbitrary force field. Differential equations of motion are created for a given system on 
the basis of general theorems of dynamics. Insights into generalized coordinates, Lagrange’s 
equations of the second kind, covariant and Hamilton’s equations are presented. Additionally to 
numerical procedures in the paper, a review of the theoretical foundations is performed. Also, the 
conditions of static equilibrium are solved numerically and by applying the intersection of the two 
curves. The paper introduced kinetic as well as the potential energy of the system. The spatial 
arrangement of equilibrium positions and behavior of the potential energy in the environment of 
the equilibrium positions is shown. Finally, the stability of motion for analysis is approached 
through Lagrange - Dirichlet theorem. Moreover, special attention is paid to examining effects 
responses of the disturbed and undisturbed system. Nonlinear and linearized equations are obtained in order to check the stability of the system for disturbed and undisturbed motion using Hurwitz stability criterion. Various procedures are verificated by drawing the same conclusions.",
publisher = "Belgrade : Serbian Society of Mechanics",
journal = "8th International Congress of Serbian Society of Mechanics  Kragujevac, Serbia, June 28-30, 2021",
title = "BEHAVIOUR, EXAMINATION AND STABILITY OF THE CONSTRAINED  MECHANICAL SYSTEM DESCRIBED WITH NONLINEAR EQUATIONS",
pages = "63-Session M.5.2: General Mechanics (part II) pp. 54",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4542"
}

Vesović, M.,& Radulović, R.. (2021). BEHAVIOUR, EXAMINATION AND STABILITY OF THE CONSTRAINED  MECHANICAL SYSTEM DESCRIBED WITH NONLINEAR EQUATIONS. in 8th International Congress of Serbian Society of Mechanics  Kragujevac, Serbia, June 28-30, 2021
Belgrade : Serbian Society of Mechanics., Session M.5.2: General Mechanics (part II) pp. 54-63.
https://hdl.handle.net/21.15107/rcub_machinery_4542

Vesović M, Radulović R. BEHAVIOUR, EXAMINATION AND STABILITY OF THE CONSTRAINED  MECHANICAL SYSTEM DESCRIBED WITH NONLINEAR EQUATIONS. in 8th International Congress of Serbian Society of Mechanics  Kragujevac, Serbia, June 28-30, 2021. 2021;:Session M.5.2: General Mechanics (part II) pp. 54-63.
https://hdl.handle.net/21.15107/rcub_machinery_4542 .

Vesović, Mitra, Radulović, Radoslav, "BEHAVIOUR, EXAMINATION AND STABILITY OF THE CONSTRAINED  MECHANICAL SYSTEM DESCRIBED WITH NONLINEAR EQUATIONS" in 8th International Congress of Serbian Society of Mechanics  Kragujevac, Serbia, June 28-30, 2021 (2021):Session M.5.2: General Mechanics (part II) pp. 54-63,
https://hdl.handle.net/21.15107/rcub_machinery_4542 .

TY  - CONF
AU  - Vesović, Mitra
AU  - Jovanović, Radiša
AU  - Laban, Lara
AU  - Bugarić, Uglješa
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4519
AB  - This paper presents a feedback linearization controller for trajectory tracking of two degrees of freedom (2DOF) gripping mechanism.  To reach this goal, after deriving the dynamical equations of the gripping mechanism, the feedback linearization approach is utilized to change the nonlinear dynamics to a linear one. Classical proportional-derivative controller with feedback linearization is applied for positioning and tracking control. Furthermore, in order to achieve movement of the mechanism without the sudden stopping at the desired point, a trapezoidal velocity profile is used to obtain desired trajectory. Numerical simulations using Matlab/Simulink successfully demonstrate the effectiveness of the proposed method.
PB  - Kraljevo : Faculty of Mechanical and Civil Engineering
C3  - X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021
T1  - Feedback Linearization Control of a Two – Link Gripping Mechanism
EP  - 16
SP  - SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 9
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4519
ER  - 

@conference{
author = "Vesović, Mitra and Jovanović, Radiša and Laban, Lara and Bugarić, Uglješa",
year = "2021",
abstract = "This paper presents a feedback linearization controller for trajectory tracking of two degrees of freedom (2DOF) gripping mechanism.  To reach this goal, after deriving the dynamical equations of the gripping mechanism, the feedback linearization approach is utilized to change the nonlinear dynamics to a linear one. Classical proportional-derivative controller with feedback linearization is applied for positioning and tracking control. Furthermore, in order to achieve movement of the mechanism without the sudden stopping at the desired point, a trapezoidal velocity profile is used to obtain desired trajectory. Numerical simulations using Matlab/Simulink successfully demonstrate the effectiveness of the proposed method.",
publisher = "Kraljevo : Faculty of Mechanical and Civil Engineering",
journal = "X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021",
title = "Feedback Linearization Control of a Two – Link Gripping Mechanism",
pages = "16-SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 9",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4519"
}

Vesović, M., Jovanović, R., Laban, L.,& Bugarić, U.. (2021). Feedback Linearization Control of a Two – Link Gripping Mechanism. in X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021
Kraljevo : Faculty of Mechanical and Civil Engineering., SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 9-16.
https://hdl.handle.net/21.15107/rcub_machinery_4519

Vesović M, Jovanović R, Laban L, Bugarić U. Feedback Linearization Control of a Two – Link Gripping Mechanism. in X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021. 2021;:SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 9-16.
https://hdl.handle.net/21.15107/rcub_machinery_4519 .

Vesović, Mitra, Jovanović, Radiša, Laban, Lara, Bugarić, Uglješa, "Feedback Linearization Control of a Two – Link Gripping Mechanism" in X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021 (2021):SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 9-16,
https://hdl.handle.net/21.15107/rcub_machinery_4519 .

TY  - CONF
AU  - Jovanović, Radiša
AU  - Bugarić, Uglješa
AU  - Laban, Lara
AU  - Vesović, Mitra
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4517
AB  - The manufacturing industry frequently deals with the problem of gripping mechanism and their movement optimization. This paper presents an optimization methodology based on the whale optimization algorithm to design an optimal fuzzy PD controller of a two - link gripping mechanism (robot arm) as a part of mobile robot working cycle. The dynamical analysis of gripping mechanism investigates a coupling relation between the joint torques applied by the actuators and the position and acceleration of the robot arm. The proposed fuzzy controller optimizes the trajectory of the 
robot’s end effector. Additionally, a simulation study was done for the specific initial case and the trapezoidal velocity profile was generated. Based on the predefined acceleration, movement of the robot arm is shown to be smooth and without an abrupt braking.
PB  - Kraljevo : Faculty of Mechanical and Civil Engineering
C3  - X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021
T1  - Trajectory Tracking of a Two – Link Gripping Mechanism
EP  - 8
SP  - SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4517
ER  - 

@conference{
author = "Jovanović, Radiša and Bugarić, Uglješa and Laban, Lara and Vesović, Mitra",
year = "2021",
abstract = "The manufacturing industry frequently deals with the problem of gripping mechanism and their movement optimization. This paper presents an optimization methodology based on the whale optimization algorithm to design an optimal fuzzy PD controller of a two - link gripping mechanism (robot arm) as a part of mobile robot working cycle. The dynamical analysis of gripping mechanism investigates a coupling relation between the joint torques applied by the actuators and the position and acceleration of the robot arm. The proposed fuzzy controller optimizes the trajectory of the 
robot’s end effector. Additionally, a simulation study was done for the specific initial case and the trapezoidal velocity profile was generated. Based on the predefined acceleration, movement of the robot arm is shown to be smooth and without an abrupt braking.",
publisher = "Kraljevo : Faculty of Mechanical and Civil Engineering",
journal = "X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021",
title = "Trajectory Tracking of a Two – Link Gripping Mechanism",
pages = "8-SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4517"
}

Jovanović, R., Bugarić, U., Laban, L.,& Vesović, M.. (2021). Trajectory Tracking of a Two – Link Gripping Mechanism. in X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021
Kraljevo : Faculty of Mechanical and Civil Engineering., SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 1-8.
https://hdl.handle.net/21.15107/rcub_machinery_4517

Jovanović R, Bugarić U, Laban L, Vesović M. Trajectory Tracking of a Two – Link Gripping Mechanism. in X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021. 2021;:SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 1-8.
https://hdl.handle.net/21.15107/rcub_machinery_4517 .

Jovanović, Radiša, Bugarić, Uglješa, Laban, Lara, Vesović, Mitra, "Trajectory Tracking of a Two – Link Gripping Mechanism" in X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021 (2021):SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 1-8,
https://hdl.handle.net/21.15107/rcub_machinery_4517 .

TY  - JOUR
AU  - Vesović, Mitra
AU  - Petrović, Goran R.
AU  - Radulović, Radoslav
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3579
AB  - U cilju dobijanja uvida u rad mašine pre njene montaže i proizvodnje, kao i dobijanja dobre analize, ovaj rad predstavlja detaljna rešenja specifičnog problema iz oblasti analitičke mehanike. Pored numeričkih postupaka u radu, izvršen je i pregled teorijskih osnova. Razne vrste analiza su vrlo česte u mašinskom inženjerstvu, zbog mogućnosti aproksimacije složenih mašina. Za predloženi sistem date su Lagranžove jednačine prve vrste, kovarijantne i kontravarijantne jednačine, Hamiltonove jednačine, generalisane koordinate, kao i uvid u Kulonovu silu trenja. Takođe, rešeni su i uslovi statičke ravnoteže uz pomoć numeričkih i grafičkih postupaka - presekom dve krive. Konačno, razmatrana je i stabilnost kretanja poremećenog i neporemećenog kretanja.
AB  - In order to give an insight into the work of the machine before the production and assembly and to obtain good analysis, this paper presents detailed solutions to the specific problem occured in the field of analytical mechanics. In addition to numerical procedures in the paper, a review of the theoretical foundations was made.Various types of analysis are very common in mechanical engineering, due to the possibility of an approximation of complex machines. For the proposed system, Lagrange's equations of the first kind, covariant and contravariant equations, Hamiltons equations and the generalized coordinates, as well as insight in Coulumb friction force are provided.Also, the conditions of static equilibrium are solved numerically and using intersection of the two curves. Finally, stability of motion for the disturbed and undisturbed system was investigated.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Analiza kretanja i stabilnosti holonomnog mehaničkog sistema u proizvoljnom polju sila
T1  - Analysis of the motion and stability of the holonomic mechanical system in the arbitrary force field
EP  - 205
IS  - 1
SP  - 195
VL  - 49
DO  - 10.5937/fme2101195V
ER  - 

@article{
author = "Vesović, Mitra and Petrović, Goran R. and Radulović, Radoslav",
year = "2021",
abstract = "U cilju dobijanja uvida u rad mašine pre njene montaže i proizvodnje, kao i dobijanja dobre analize, ovaj rad predstavlja detaljna rešenja specifičnog problema iz oblasti analitičke mehanike. Pored numeričkih postupaka u radu, izvršen je i pregled teorijskih osnova. Razne vrste analiza su vrlo česte u mašinskom inženjerstvu, zbog mogućnosti aproksimacije složenih mašina. Za predloženi sistem date su Lagranžove jednačine prve vrste, kovarijantne i kontravarijantne jednačine, Hamiltonove jednačine, generalisane koordinate, kao i uvid u Kulonovu silu trenja. Takođe, rešeni su i uslovi statičke ravnoteže uz pomoć numeričkih i grafičkih postupaka - presekom dve krive. Konačno, razmatrana je i stabilnost kretanja poremećenog i neporemećenog kretanja., In order to give an insight into the work of the machine before the production and assembly and to obtain good analysis, this paper presents detailed solutions to the specific problem occured in the field of analytical mechanics. In addition to numerical procedures in the paper, a review of the theoretical foundations was made.Various types of analysis are very common in mechanical engineering, due to the possibility of an approximation of complex machines. For the proposed system, Lagrange's equations of the first kind, covariant and contravariant equations, Hamiltons equations and the generalized coordinates, as well as insight in Coulumb friction force are provided.Also, the conditions of static equilibrium are solved numerically and using intersection of the two curves. Finally, stability of motion for the disturbed and undisturbed system was investigated.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Analiza kretanja i stabilnosti holonomnog mehaničkog sistema u proizvoljnom polju sila, Analysis of the motion and stability of the holonomic mechanical system in the arbitrary force field",
pages = "205-195",
number = "1",
volume = "49",
doi = "10.5937/fme2101195V"
}

Vesović, M., Petrović, G. R.,& Radulović, R.. (2021). Analiza kretanja i stabilnosti holonomnog mehaničkog sistema u proizvoljnom polju sila. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 49(1), 195-205.
https://doi.org/10.5937/fme2101195V

Vesović M, Petrović GR, Radulović R. Analiza kretanja i stabilnosti holonomnog mehaničkog sistema u proizvoljnom polju sila. in FME Transactions. 2021;49(1):195-205.
doi:10.5937/fme2101195V .

Vesović, Mitra, Petrović, Goran R., Radulović, Radoslav, "Analiza kretanja i stabilnosti holonomnog mehaničkog sistema u proizvoljnom polju sila" in FME Transactions, 49, no. 1 (2021):195-205,
https://doi.org/10.5937/fme2101195V . .

TY  - CONF
AU  - Vesović, Mitra
AU  - Jovanović, Radiša
AU  - Zarić, Vladimir
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4512
AB  - In this paper the nonlinear feedback control 
system is presented for the speed control in direct current - 
DC motor. Nonlinear functions of dead zone, Coulomb and 
viscous friction were investigated and used for obtaining the 
mathematical model. The effectiveness and the comparison 
between linear and nonlinear control signal have been 
confirmed using Matlab/Simulink software. From the 
conclusions, based on the experimental results, it is easy to 
see that nonlinear control system is more acceptable and has 
a better performance for speed control. The validity of using 
feedback linearization in DC motors has been proven.
PB  - Faculty of Mechanical Engineering in Niš
PB  - Prof. Dr Nenad T. Pavlović, Dean
C3  - THE FIFTH INTERNATIONAL CONFERENCE “MECHANICAL ENGINEERING IN XXI CENTURY” - MASING 2020 PROCEEDINGS -UNIVERSITY OF NIŠ FACULTY OF MECHANICAL ENGINEERING IN NIŠ, December 9-10
T1  - Modelling and Speed Control in a Series Direct Current  (DC) Machines Using Feedback Linearization Approach
EP  - 212
SP  - MECHATRONICS AND CONTROL pp. 207
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4512
ER  - 

@conference{
author = "Vesović, Mitra and Jovanović, Radiša and Zarić, Vladimir",
year = "2020",
abstract = "In this paper the nonlinear feedback control 
system is presented for the speed control in direct current - 
DC motor. Nonlinear functions of dead zone, Coulomb and 
viscous friction were investigated and used for obtaining the 
mathematical model. The effectiveness and the comparison 
between linear and nonlinear control signal have been 
confirmed using Matlab/Simulink software. From the 
conclusions, based on the experimental results, it is easy to 
see that nonlinear control system is more acceptable and has 
a better performance for speed control. The validity of using 
feedback linearization in DC motors has been proven.",
publisher = "Faculty of Mechanical Engineering in Niš, Prof. Dr Nenad T. Pavlović, Dean",
journal = "THE FIFTH INTERNATIONAL CONFERENCE “MECHANICAL ENGINEERING IN XXI CENTURY” - MASING 2020 PROCEEDINGS -UNIVERSITY OF NIŠ FACULTY OF MECHANICAL ENGINEERING IN NIŠ, December 9-10",
title = "Modelling and Speed Control in a Series Direct Current  (DC) Machines Using Feedback Linearization Approach",
pages = "212-MECHATRONICS AND CONTROL pp. 207",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4512"
}

Vesović, M., Jovanović, R.,& Zarić, V.. (2020). Modelling and Speed Control in a Series Direct Current  (DC) Machines Using Feedback Linearization Approach. in THE FIFTH INTERNATIONAL CONFERENCE “MECHANICAL ENGINEERING IN XXI CENTURY” - MASING 2020 PROCEEDINGS -UNIVERSITY OF NIŠ FACULTY OF MECHANICAL ENGINEERING IN NIŠ, December 9-10
Faculty of Mechanical Engineering in Niš., MECHATRONICS AND CONTROL pp. 207-212.
https://hdl.handle.net/21.15107/rcub_machinery_4512

Vesović M, Jovanović R, Zarić V. Modelling and Speed Control in a Series Direct Current  (DC) Machines Using Feedback Linearization Approach. in THE FIFTH INTERNATIONAL CONFERENCE “MECHANICAL ENGINEERING IN XXI CENTURY” - MASING 2020 PROCEEDINGS -UNIVERSITY OF NIŠ FACULTY OF MECHANICAL ENGINEERING IN NIŠ, December 9-10. 2020;:MECHATRONICS AND CONTROL pp. 207-212.
https://hdl.handle.net/21.15107/rcub_machinery_4512 .

Vesović, Mitra, Jovanović, Radiša, Zarić, Vladimir, "Modelling and Speed Control in a Series Direct Current  (DC) Machines Using Feedback Linearization Approach" in THE FIFTH INTERNATIONAL CONFERENCE “MECHANICAL ENGINEERING IN XXI CENTURY” - MASING 2020 PROCEEDINGS -UNIVERSITY OF NIŠ FACULTY OF MECHANICAL ENGINEERING IN NIŠ, December 9-10 (2020):MECHATRONICS AND CONTROL pp. 207-212,
https://hdl.handle.net/21.15107/rcub_machinery_4512 .

TY  - CONF
AU  - Jovanović, Radiša
AU  - Zarić, Vladimir
AU  - Vesović, Mitra
AU  - Laban, Lara
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4500
AB  - The liquid level control remains an important task for research and is used by process control engineers. Linear models for the tank system were obtained based on empirical techniques. From these identified linear models Takagi-Sugeno model was obtained and later a fuzzy controller was designed based on the parallel distributed compensation method (PDC). A comparison was made between local linear PI controllers and the parallel distributed compensation controller. The evaluation criteria which was considered in this paper is the step response. In addition to all of the above stated, the whale optimization algorithm is implemented to fine tune parameters and to obtain optimized Takagi-Sugeno plant model. Moreover, the PDC from optimized model is compared to the first parallel distributed controller, which was based on identified models.
PB  - Belgrade : Društvo za ETRAN
PB  - Beograd : Akademska misao
C3  - Зборник радова ‐ 64. Конференција за електронику, телекомуникације, рачунарство, аутоматику и нуклеарну технику / Proceedings of Papers –  7th International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2020
T1  - Modeling and Control of a Liquid Level System Based on the Takagi-Sugeno Fuzzy Model Using the Whale Optimization Algorithm
EP  - SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp. 202
SP  - SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp.197
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4500
ER  - 

@conference{
author = "Jovanović, Radiša and Zarić, Vladimir and Vesović, Mitra and Laban, Lara",
year = "2020",
abstract = "The liquid level control remains an important task for research and is used by process control engineers. Linear models for the tank system were obtained based on empirical techniques. From these identified linear models Takagi-Sugeno model was obtained and later a fuzzy controller was designed based on the parallel distributed compensation method (PDC). A comparison was made between local linear PI controllers and the parallel distributed compensation controller. The evaluation criteria which was considered in this paper is the step response. In addition to all of the above stated, the whale optimization algorithm is implemented to fine tune parameters and to obtain optimized Takagi-Sugeno plant model. Moreover, the PDC from optimized model is compared to the first parallel distributed controller, which was based on identified models.",
publisher = "Belgrade : Društvo za ETRAN, Beograd : Akademska misao",
journal = "Зборник радова ‐ 64. Конференција за електронику, телекомуникације, рачунарство, аутоматику и нуклеарну технику / Proceedings of Papers –  7th International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2020",
title = "Modeling and Control of a Liquid Level System Based on the Takagi-Sugeno Fuzzy Model Using the Whale Optimization Algorithm",
pages = "SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp. 202-SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp.197",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4500"
}

Jovanović, R., Zarić, V., Vesović, M.,& Laban, L.. (2020). Modeling and Control of a Liquid Level System Based on the Takagi-Sugeno Fuzzy Model Using the Whale Optimization Algorithm. in Зборник радова ‐ 64. Конференција за електронику, телекомуникације, рачунарство, аутоматику и нуклеарну технику / Proceedings of Papers –  7th International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2020
Belgrade : Društvo za ETRAN., SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp.197-SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp. 202.
https://hdl.handle.net/21.15107/rcub_machinery_4500

Jovanović R, Zarić V, Vesović M, Laban L. Modeling and Control of a Liquid Level System Based on the Takagi-Sugeno Fuzzy Model Using the Whale Optimization Algorithm. in Зборник радова ‐ 64. Конференција за електронику, телекомуникације, рачунарство, аутоматику и нуклеарну технику / Proceedings of Papers –  7th International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2020. 2020;:SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp.197-SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp. 202.
https://hdl.handle.net/21.15107/rcub_machinery_4500 .

Jovanović, Radiša, Zarić, Vladimir, Vesović, Mitra, Laban, Lara, "Modeling and Control of a Liquid Level System Based on the Takagi-Sugeno Fuzzy Model Using the Whale Optimization Algorithm" in Зборник радова ‐ 64. Конференција за електронику, телекомуникације, рачунарство, аутоматику и нуклеарну технику / Proceedings of Papers –  7th International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2020 (2020):SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp.197-SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp. 202,
https://hdl.handle.net/21.15107/rcub_machinery_4500 .

TY  - CONF
AU  - Laban, Lara
AU  - Jovanović, Radiša
AU  - Vesović, Mitra
AU  - Zarić, Vladimir
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4496
AB  - In this paper a comparison between three different
types of trained VGG convolutional neural networks (CNNs) is
proposed for the classification of a pediatric chest X-ray image
data set. A deep convolutional neural network with an
architecture resembling the VGGNet is presented using dropout,
decay and data scaling. Since the dataset had a class imbalance,
this was solved using a simple method called data scaling. The
training of the neural network was done using small batches with
a binary cross entropy loss function. The same neural network
was then implemented adding batch normalization layers, and
comparisons were made. Furthermore, the chest X-ray dataset
was also trained using transfer learning with a pre-trained
neural network VGG16 on the ImageNet dataset. Later on
juxtapositions were made on using both techniques. Additionally,
in applying these methods we were able to achieve a classification
with the accuracy higher than 0.95 and 0.97 for the training and
validation datasets, whilst incorporating only 30 epochs.
PB  - Belgrade : Društvo za ETRAN
PB  - Beograd : Akademska misao
C3  - Зборник радова ‐ 64. Конференција за електронику, телекомуникације, рачунарство, аутоматику и нуклеарну технику / Proceedings of Papers –  7th International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2020
T1  - CLASSIFICATION OF CHEST X-RAY IMAGES USING DEEP CONVOLUTIONAL NEURAL NETWORKS
EP  - SESSION AII2: ARTIFICIAL INTELIGENCE: DEEP NEURAL NETWORKS AND APPLICATION pp. 23
SP  - SESSION AII2: ARTIFICIAL INTELIGENCE: DEEP NEURAL NETWORKS AND APPLICATION pp. 18
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4496
ER  - 

@conference{
author = "Laban, Lara and Jovanović, Radiša and Vesović, Mitra and Zarić, Vladimir",
year = "2020",
abstract = "In this paper a comparison between three different
types of trained VGG convolutional neural networks (CNNs) is
proposed for the classification of a pediatric chest X-ray image
data set. A deep convolutional neural network with an
architecture resembling the VGGNet is presented using dropout,
decay and data scaling. Since the dataset had a class imbalance,
this was solved using a simple method called data scaling. The
training of the neural network was done using small batches with
a binary cross entropy loss function. The same neural network
was then implemented adding batch normalization layers, and
comparisons were made. Furthermore, the chest X-ray dataset
was also trained using transfer learning with a pre-trained
neural network VGG16 on the ImageNet dataset. Later on
juxtapositions were made on using both techniques. Additionally,
in applying these methods we were able to achieve a classification
with the accuracy higher than 0.95 and 0.97 for the training and
validation datasets, whilst incorporating only 30 epochs.",
publisher = "Belgrade : Društvo za ETRAN, Beograd : Akademska misao",
journal = "Зборник радова ‐ 64. Конференција за електронику, телекомуникације, рачунарство, аутоматику и нуклеарну технику / Proceedings of Papers –  7th International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2020",
title = "CLASSIFICATION OF CHEST X-RAY IMAGES USING DEEP CONVOLUTIONAL NEURAL NETWORKS",
pages = "SESSION AII2: ARTIFICIAL INTELIGENCE: DEEP NEURAL NETWORKS AND APPLICATION pp. 23-SESSION AII2: ARTIFICIAL INTELIGENCE: DEEP NEURAL NETWORKS AND APPLICATION pp. 18",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4496"
}

Laban, L., Jovanović, R., Vesović, M.,& Zarić, V.. (2020). CLASSIFICATION OF CHEST X-RAY IMAGES USING DEEP CONVOLUTIONAL NEURAL NETWORKS. in Зборник радова ‐ 64. Конференција за електронику, телекомуникације, рачунарство, аутоматику и нуклеарну технику / Proceedings of Papers –  7th International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2020
Belgrade : Društvo za ETRAN., SESSION AII2: ARTIFICIAL INTELIGENCE: DEEP NEURAL NETWORKS AND APPLICATION pp. 18-SESSION AII2: ARTIFICIAL INTELIGENCE: DEEP NEURAL NETWORKS AND APPLICATION pp. 23.
https://hdl.handle.net/21.15107/rcub_machinery_4496

Laban L, Jovanović R, Vesović M, Zarić V. CLASSIFICATION OF CHEST X-RAY IMAGES USING DEEP CONVOLUTIONAL NEURAL NETWORKS. in Зборник радова ‐ 64. Конференција за електронику, телекомуникације, рачунарство, аутоматику и нуклеарну технику / Proceedings of Papers –  7th International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2020. 2020;:SESSION AII2: ARTIFICIAL INTELIGENCE: DEEP NEURAL NETWORKS AND APPLICATION pp. 18-SESSION AII2: ARTIFICIAL INTELIGENCE: DEEP NEURAL NETWORKS AND APPLICATION pp. 23.
https://hdl.handle.net/21.15107/rcub_machinery_4496 .

Laban, Lara, Jovanović, Radiša, Vesović, Mitra, Zarić, Vladimir, "CLASSIFICATION OF CHEST X-RAY IMAGES USING DEEP CONVOLUTIONAL NEURAL NETWORKS" in Зборник радова ‐ 64. Конференција за електронику, телекомуникације, рачунарство, аутоматику и нуклеарну технику / Proceedings of Papers –  7th International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2020 (2020):SESSION AII2: ARTIFICIAL INTELIGENCE: DEEP NEURAL NETWORKS AND APPLICATION pp. 18-SESSION AII2: ARTIFICIAL INTELIGENCE: DEEP NEURAL NETWORKS AND APPLICATION pp. 23,
https://hdl.handle.net/21.15107/rcub_machinery_4496 .

TY  - CONF
AU  - Vesović, Mitra
AU  - Jovanović, Radiša
AU  - Laban, Lara
AU  - Zarić, Vladimir
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4492
AB  - The nonlinear feedback control system applied to the
direct current - DC motor is proposed in this research. Nonlinear
mathematical model has been obtained using dead zone, Coulomb
and viscous friction. The system stability has been analyzed using
Lyapunov stability theory. The effectiveness and the comparison
of the performance between linear and nonlinear control
algorithm have been validated using Matlab/Simulink software.
From the conclusions, based on the simulation and experimental
results that have been provided, it is easy to see that nonlinear
control systems are more suitable and have a better reach for
controlling position. The validity of using feedback linearization
in DC motors has been proven.
PB  - Belgrade : Društvo za ETRAN
PB  - Beograd : Akademska misao
C3  - Зборник радова ‐ 64. Конференција за електронику, телекомуникације, рачунарство, аутоматику и нуклеарну технику / Proceedings of Papers –  7th International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2020
T1  - MODELLING AND CONTROL OF A SERIES DIRECT CURRENT (DC) MACHINES USING FEEDBACK LINEARIZATION APPROACH
EP  - SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp.196
SP  - SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp.191
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4492
ER  - 

@conference{
author = "Vesović, Mitra and Jovanović, Radiša and Laban, Lara and Zarić, Vladimir",
year = "2020",
abstract = "The nonlinear feedback control system applied to the
direct current - DC motor is proposed in this research. Nonlinear
mathematical model has been obtained using dead zone, Coulomb
and viscous friction. The system stability has been analyzed using
Lyapunov stability theory. The effectiveness and the comparison
of the performance between linear and nonlinear control
algorithm have been validated using Matlab/Simulink software.
From the conclusions, based on the simulation and experimental
results that have been provided, it is easy to see that nonlinear
control systems are more suitable and have a better reach for
controlling position. The validity of using feedback linearization
in DC motors has been proven.",
publisher = "Belgrade : Društvo za ETRAN, Beograd : Akademska misao",
journal = "Зборник радова ‐ 64. Конференција за електронику, телекомуникације, рачунарство, аутоматику и нуклеарну технику / Proceedings of Papers –  7th International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2020",
title = "MODELLING AND CONTROL OF A SERIES DIRECT CURRENT (DC) MACHINES USING FEEDBACK LINEARIZATION APPROACH",
pages = "SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp.196-SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp.191",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4492"
}

Vesović, M., Jovanović, R., Laban, L.,& Zarić, V.. (2020). MODELLING AND CONTROL OF A SERIES DIRECT CURRENT (DC) MACHINES USING FEEDBACK LINEARIZATION APPROACH. in Зборник радова ‐ 64. Конференција за електронику, телекомуникације, рачунарство, аутоматику и нуклеарну технику / Proceedings of Papers –  7th International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2020
Belgrade : Društvo za ETRAN., SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp.191-SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp.196.
https://hdl.handle.net/21.15107/rcub_machinery_4492

Vesović M, Jovanović R, Laban L, Zarić V. MODELLING AND CONTROL OF A SERIES DIRECT CURRENT (DC) MACHINES USING FEEDBACK LINEARIZATION APPROACH. in Зборник радова ‐ 64. Конференција за електронику, телекомуникације, рачунарство, аутоматику и нуклеарну технику / Proceedings of Papers –  7th International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2020. 2020;:SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp.191-SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp.196.
https://hdl.handle.net/21.15107/rcub_machinery_4492 .

Vesović, Mitra, Jovanović, Radiša, Laban, Lara, Zarić, Vladimir, "MODELLING AND CONTROL OF A SERIES DIRECT CURRENT (DC) MACHINES USING FEEDBACK LINEARIZATION APPROACH" in Зборник радова ‐ 64. Конференција за електронику, телекомуникације, рачунарство, аутоматику и нуклеарну технику / Proceedings of Papers –  7th International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2020 (2020):SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp.191-SESSION AU2: CONTROL SYSTEMS 2 AUI2.2 pp.196,
https://hdl.handle.net/21.15107/rcub_machinery_4492 .

TY  - CONF
AU  - Laban, Lara
AU  - Vesović, Mitra
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4508
AB  - In this paper a method is presented for the
classification of COVID-CT (CT_COVID, CT_NonCOVID)
image data set. Four different types of deep convolutional
neural networks are proposed, two with the architecture
resembling the VGGNet, one resembling the LeNet-5 and
one using transfer learning. In addition, neural networks
utilized the following techniques: decay, dropout and batch
normalization. Since we needed to combat a significantly
small dataset, we used data augmentation in order to
transform and expand our dataset. Moreover,
juxtapositions were made when observing the results given
by these four neural networks, as well as the affect made by
two different optimizers. The training of the neural
networks was done using small batches with a binary cross
entropy loss function, in order to achieve an up to scratch
classification accuracy.
PB  - Faculty of Mechanical Engineering in Niš
PB  - Prof. Dr Nenad T. Pavlović, Dean
C3  - THE FIFTH INTERNATIONAL CONFERENCE “MECHANICAL ENGINEERING IN XXI CENTURY” - MASING 2020 PROCEEDINGS -UNIVERSITY OF NIŠ FACULTY OF MECHANICAL ENGINEERING IN NIŠ, December 9-10.
T1  - Classification of COVID-CT Images Utilizing Four Types of Deep Convolutional Neural Networks
EP  - 206
SP  - MECHATRONICS AND CONTROL pp. 201
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4508
ER  - 

@conference{
author = "Laban, Lara and Vesović, Mitra",
year = "2020",
abstract = "In this paper a method is presented for the
classification of COVID-CT (CT_COVID, CT_NonCOVID)
image data set. Four different types of deep convolutional
neural networks are proposed, two with the architecture
resembling the VGGNet, one resembling the LeNet-5 and
one using transfer learning. In addition, neural networks
utilized the following techniques: decay, dropout and batch
normalization. Since we needed to combat a significantly
small dataset, we used data augmentation in order to
transform and expand our dataset. Moreover,
juxtapositions were made when observing the results given
by these four neural networks, as well as the affect made by
two different optimizers. The training of the neural
networks was done using small batches with a binary cross
entropy loss function, in order to achieve an up to scratch
classification accuracy.",
publisher = "Faculty of Mechanical Engineering in Niš, Prof. Dr Nenad T. Pavlović, Dean",
journal = "THE FIFTH INTERNATIONAL CONFERENCE “MECHANICAL ENGINEERING IN XXI CENTURY” - MASING 2020 PROCEEDINGS -UNIVERSITY OF NIŠ FACULTY OF MECHANICAL ENGINEERING IN NIŠ, December 9-10.",
title = "Classification of COVID-CT Images Utilizing Four Types of Deep Convolutional Neural Networks",
pages = "206-MECHATRONICS AND CONTROL pp. 201",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4508"
}

Laban, L.,& Vesović, M.. (2020). Classification of COVID-CT Images Utilizing Four Types of Deep Convolutional Neural Networks. in THE FIFTH INTERNATIONAL CONFERENCE “MECHANICAL ENGINEERING IN XXI CENTURY” - MASING 2020 PROCEEDINGS -UNIVERSITY OF NIŠ FACULTY OF MECHANICAL ENGINEERING IN NIŠ, December 9-10.
Faculty of Mechanical Engineering in Niš., MECHATRONICS AND CONTROL pp. 201-206.
https://hdl.handle.net/21.15107/rcub_machinery_4508

Laban L, Vesović M. Classification of COVID-CT Images Utilizing Four Types of Deep Convolutional Neural Networks. in THE FIFTH INTERNATIONAL CONFERENCE “MECHANICAL ENGINEERING IN XXI CENTURY” - MASING 2020 PROCEEDINGS -UNIVERSITY OF NIŠ FACULTY OF MECHANICAL ENGINEERING IN NIŠ, December 9-10.. 2020;:MECHATRONICS AND CONTROL pp. 201-206.
https://hdl.handle.net/21.15107/rcub_machinery_4508 .

Laban, Lara, Vesović, Mitra, "Classification of COVID-CT Images Utilizing Four Types of Deep Convolutional Neural Networks" in THE FIFTH INTERNATIONAL CONFERENCE “MECHANICAL ENGINEERING IN XXI CENTURY” - MASING 2020 PROCEEDINGS -UNIVERSITY OF NIŠ FACULTY OF MECHANICAL ENGINEERING IN NIŠ, December 9-10. (2020):MECHATRONICS AND CONTROL pp. 201-206,
https://hdl.handle.net/21.15107/rcub_machinery_4508 .