TY  - CONF
AU  - Jokić, Aleksandar
AU  - Khazraei, Amir
AU  - Petrović, Milica
AU  - Jakovljević, Živana
AU  - Pajić, Miroslav
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7676
AB  - Visual servoing represents a control strategy
capable of driving dynamical systems from the current to the
desired pose, when the only available information is the images
generated at both poses. In this work, we analyze vulnerability
of such systems and introduce two types of attacks to deceive
visual servoing controller within a wheeled mobile robotic
system. The attack goal is to alter the visual servoing procedure
in such a way that mobile robot achieves the pose defined by an
attacker instead of the desired one. Specifically, the attacks
exploit image transformations developed using a methodology
based on simulated annealing. The main difference between the
attacks is the considered threat model – i.e., how the attacker
has infiltrated the system. The first attack assumes the realtime camera feed has been compromised and thus, the images
from the current pose are modified (e.g., during the acquisition
or communication); for the second, only the desired destination
image is potentially altered. Finally, in 3D simulations and realworld experiments, we show the effectiveness of cyber-attacks.
C3  - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
T1  - Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control
EP  - 6348
SP  - 6342
DO  - 10.1109/IROS55552.2023.10341376
ER  - 

@conference{
author = "Jokić, Aleksandar and Khazraei, Amir and Petrović, Milica and Jakovljević, Živana and Pajić, Miroslav",
year = "2023",
abstract = "Visual servoing represents a control strategy
capable of driving dynamical systems from the current to the
desired pose, when the only available information is the images
generated at both poses. In this work, we analyze vulnerability
of such systems and introduce two types of attacks to deceive
visual servoing controller within a wheeled mobile robotic
system. The attack goal is to alter the visual servoing procedure
in such a way that mobile robot achieves the pose defined by an
attacker instead of the desired one. Specifically, the attacks
exploit image transformations developed using a methodology
based on simulated annealing. The main difference between the
attacks is the considered threat model – i.e., how the attacker
has infiltrated the system. The first attack assumes the realtime camera feed has been compromised and thus, the images
from the current pose are modified (e.g., during the acquisition
or communication); for the second, only the desired destination
image is potentially altered. Finally, in 3D simulations and realworld experiments, we show the effectiveness of cyber-attacks.",
journal = "2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
title = "Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control",
pages = "6348-6342",
doi = "10.1109/IROS55552.2023.10341376"
}

Jokić, A., Khazraei, A., Petrović, M., Jakovljević, Ž.,& Pajić, M.. (2023). Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 6342-6348.
https://doi.org/10.1109/IROS55552.2023.10341376

Jokić A, Khazraei A, Petrović M, Jakovljević Ž, Pajić M. Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023;:6342-6348.
doi:10.1109/IROS55552.2023.10341376 .

Jokić, Aleksandar, Khazraei, Amir, Petrović, Milica, Jakovljević, Živana, Pajić, Miroslav, "Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control" in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2023):6342-6348,
https://doi.org/10.1109/IROS55552.2023.10341376 . .

TY  - JOUR
AU  - Lesi, Vuk
AU  - Jakovljević, Živana
AU  - Pajić, Miroslav
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5616
AB  - Ever-increasing demands for highly-efficient customized manufacturing are driving the development of Industry 4.0. Reconfigurable manufacturing systems based on modular, convertible, and interoperable equipment present a key enabler of the fourth industrial revolution. Besides suitable mechanical design, control of these smart manufacturing resources should facilitate Internet of Things (IoT) integration and reconfigurability. Existing numerical control kernels (NCK)—the major control component for motion control—hinder rapid reconfiguration due to the complexity of their monolithic centralized structure. On the other hand, reconfigurability is naturally promoted by the distributed control paradigm, as proposed by the industrial IoT (IIoT) concept; hence, in this article, we investigate design challenges in distributing the conventional centralized NCK designs used for control of computerized numerical control systems. We introduce an architecture where each axis module is augmented with a networked, IIoT-enabled low-level controller (LLC) that performs local control and exposes a network interface for communication with other LLCs toward executing the desired process. These smart manufacturing resources communicate with an edge-based high-level controller (HLC) that provides the trajectory specification over the network and schedules manufacturing tasks. We investigate real-time and network bandwidth requirements of different mappings of the NCK layers to the LLCs and the HLC, providing design-time tradeoffs for implementing IoT-ready, distributed motion control. We demonstrate feasibility of our approach using industry-grade single-axis robots and low-cost IoT microcontrollers, and show that minimal accuracy impairment is introduced compared to the centralized setup based on ISO 230 and ISO 10791-7 standards.
T2  - IEEE Transactions on Industrial Informatics
T1  - IoT-Enabled Motion Control: Architectural Design Challenges and Solutions
EP  - 2294
IS  - 3
SP  - 2284
VL  - 19
DO  - 10.1109/TII.2022.3202175
ER  - 

@article{
author = "Lesi, Vuk and Jakovljević, Živana and Pajić, Miroslav",
year = "2023",
abstract = "Ever-increasing demands for highly-efficient customized manufacturing are driving the development of Industry 4.0. Reconfigurable manufacturing systems based on modular, convertible, and interoperable equipment present a key enabler of the fourth industrial revolution. Besides suitable mechanical design, control of these smart manufacturing resources should facilitate Internet of Things (IoT) integration and reconfigurability. Existing numerical control kernels (NCK)—the major control component for motion control—hinder rapid reconfiguration due to the complexity of their monolithic centralized structure. On the other hand, reconfigurability is naturally promoted by the distributed control paradigm, as proposed by the industrial IoT (IIoT) concept; hence, in this article, we investigate design challenges in distributing the conventional centralized NCK designs used for control of computerized numerical control systems. We introduce an architecture where each axis module is augmented with a networked, IIoT-enabled low-level controller (LLC) that performs local control and exposes a network interface for communication with other LLCs toward executing the desired process. These smart manufacturing resources communicate with an edge-based high-level controller (HLC) that provides the trajectory specification over the network and schedules manufacturing tasks. We investigate real-time and network bandwidth requirements of different mappings of the NCK layers to the LLCs and the HLC, providing design-time tradeoffs for implementing IoT-ready, distributed motion control. We demonstrate feasibility of our approach using industry-grade single-axis robots and low-cost IoT microcontrollers, and show that minimal accuracy impairment is introduced compared to the centralized setup based on ISO 230 and ISO 10791-7 standards.",
journal = "IEEE Transactions on Industrial Informatics",
title = "IoT-Enabled Motion Control: Architectural Design Challenges and Solutions",
pages = "2294-2284",
number = "3",
volume = "19",
doi = "10.1109/TII.2022.3202175"
}

Lesi, V., Jakovljević, Ž.,& Pajić, M.. (2023). IoT-Enabled Motion Control: Architectural Design Challenges and Solutions. in IEEE Transactions on Industrial Informatics, 19(3), 2284-2294.
https://doi.org/10.1109/TII.2022.3202175

Lesi V, Jakovljević Ž, Pajić M. IoT-Enabled Motion Control: Architectural Design Challenges and Solutions. in IEEE Transactions on Industrial Informatics. 2023;19(3):2284-2294.
doi:10.1109/TII.2022.3202175 .

Lesi, Vuk, Jakovljević, Živana, Pajić, Miroslav, "IoT-Enabled Motion Control: Architectural Design Challenges and Solutions" in IEEE Transactions on Industrial Informatics, 19, no. 3 (2023):2284-2294,
https://doi.org/10.1109/TII.2022.3202175 . .

TY  - JOUR
AU  - Lesi, Vuk
AU  - Jakovljević, Živana
AU  - Pajić, Miroslav
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/101
AB  - Internet of Things (IoT) technologies enable development of reconfigurable manufacturing systems--a new generation of modularized industrial equipment suitable for highly customized manufacturing. Sequential control in these systems is largely based on discrete events, whereas their formal execution semantics is specified as control interpreted Petri nets (CIPN). Despite industry-wide use of programming languages based on the CIPN formalism, formal verification of such control applications in the presence of adversarial activity is not supported. Consequently, in this article, we introduce security-aware modeling and verification techniques for CIPN-based sequential control applications. Specifically, we show how CIPN models of networked industrial IoT controllers can be transformed into time Petri net (TPN)-based models and composed with plant and security-aware channel models in order to enable system-level verification of safety properties in the presence of network-based attacks. Additionally, we introduce realistic channel-specific attack models that capture adversarial behavior using nondeterminism. Moreover, we show how verification results can be utilized to introduce security patches and facilitate design of attack detectors that improve system resiliency and enable satisfaction of critical safety properties. Finally, we evaluate our framework on an industrial case study.
PB  - IEEE - Inst Electrical Electronics Engineers Inc, Piscataway
T2  - IEEE Transactions on Automation Science and Engineering
T1  - Security Analysis for Distributed IoT-Based Industrial Automation
EP  - 3108
IS  - 4
SP  - 3093
VL  - 19
DO  - 10.1109/TASE.2021.3106335
ER  - 

@article{
author = "Lesi, Vuk and Jakovljević, Živana and Pajić, Miroslav",
year = "2022",
abstract = "Internet of Things (IoT) technologies enable development of reconfigurable manufacturing systems--a new generation of modularized industrial equipment suitable for highly customized manufacturing. Sequential control in these systems is largely based on discrete events, whereas their formal execution semantics is specified as control interpreted Petri nets (CIPN). Despite industry-wide use of programming languages based on the CIPN formalism, formal verification of such control applications in the presence of adversarial activity is not supported. Consequently, in this article, we introduce security-aware modeling and verification techniques for CIPN-based sequential control applications. Specifically, we show how CIPN models of networked industrial IoT controllers can be transformed into time Petri net (TPN)-based models and composed with plant and security-aware channel models in order to enable system-level verification of safety properties in the presence of network-based attacks. Additionally, we introduce realistic channel-specific attack models that capture adversarial behavior using nondeterminism. Moreover, we show how verification results can be utilized to introduce security patches and facilitate design of attack detectors that improve system resiliency and enable satisfaction of critical safety properties. Finally, we evaluate our framework on an industrial case study.",
publisher = "IEEE - Inst Electrical Electronics Engineers Inc, Piscataway",
journal = "IEEE Transactions on Automation Science and Engineering",
title = "Security Analysis for Distributed IoT-Based Industrial Automation",
pages = "3108-3093",
number = "4",
volume = "19",
doi = "10.1109/TASE.2021.3106335"
}

Lesi, V., Jakovljević, Ž.,& Pajić, M.. (2022). Security Analysis for Distributed IoT-Based Industrial Automation. in IEEE Transactions on Automation Science and Engineering
IEEE - Inst Electrical Electronics Engineers Inc, Piscataway., 19(4), 3093-3108.
https://doi.org/10.1109/TASE.2021.3106335

Lesi V, Jakovljević Ž, Pajić M. Security Analysis for Distributed IoT-Based Industrial Automation. in IEEE Transactions on Automation Science and Engineering. 2022;19(4):3093-3108.
doi:10.1109/TASE.2021.3106335 .

Lesi, Vuk, Jakovljević, Živana, Pajić, Miroslav, "Security Analysis for Distributed IoT-Based Industrial Automation" in IEEE Transactions on Automation Science and Engineering, 19, no. 4 (2022):3093-3108,
https://doi.org/10.1109/TASE.2021.3106335 . .

TY  - JOUR
AU  - Jakovljević, Živana
AU  - Lesi, Vuk
AU  - Pajić, Miroslav
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3622
AB  - Industrial Internet of Things (IIoT) represents a backbone of modern reconfigurable manufacturing systems (RMS), which enable manufacturing of a high product variety through rapid and easy reconfiguration of manufacturing equipment. In IIoT-enabled RMS, modular equipment is built from smart devices, each performing its own tasks, whereas the global functioning is achieved through their networking and intensive communication. Although device communication contributes to the system reconfigurability, it also opens up new security challenges due to potential vulnerability of communication links. In this article, we present security analysis for a major part of RMS in which manufacturing equipment is sequentially controlled and can be modeled as discrete event systems (DES). Control distribution within DES implies communication of certain events between smart modules. Specifically, in this work, we focus on attacks on communication of these events. In particular, we develop a method for modeling such attacks, including event insertion and removal attacks, in distributed sequential control; the method is based on the supervisory control theory framework. We show how the modeled attacks can be detected and provide a method for identification of communication links that require protection to avoid catastrophic damage of the system. Finally, we illustrate and experimentally validate applicability of our methodology on a real-world industrial case study with reconfigurable manufacturing equipment.
PB  - Ieee-Inst Electrical Electronics Engineers Inc, Piscataway
T2  - Ieee Transactions on Industrial Informatics
T1  - Attacks on Distributed Sequential Control in Manufacturing Automation
EP  - 786
IS  - 2
SP  - 775
VL  - 17
DO  - 10.1109/TII.2020.2987629
ER  - 

@article{
author = "Jakovljević, Živana and Lesi, Vuk and Pajić, Miroslav",
year = "2021",
abstract = "Industrial Internet of Things (IIoT) represents a backbone of modern reconfigurable manufacturing systems (RMS), which enable manufacturing of a high product variety through rapid and easy reconfiguration of manufacturing equipment. In IIoT-enabled RMS, modular equipment is built from smart devices, each performing its own tasks, whereas the global functioning is achieved through their networking and intensive communication. Although device communication contributes to the system reconfigurability, it also opens up new security challenges due to potential vulnerability of communication links. In this article, we present security analysis for a major part of RMS in which manufacturing equipment is sequentially controlled and can be modeled as discrete event systems (DES). Control distribution within DES implies communication of certain events between smart modules. Specifically, in this work, we focus on attacks on communication of these events. In particular, we develop a method for modeling such attacks, including event insertion and removal attacks, in distributed sequential control; the method is based on the supervisory control theory framework. We show how the modeled attacks can be detected and provide a method for identification of communication links that require protection to avoid catastrophic damage of the system. Finally, we illustrate and experimentally validate applicability of our methodology on a real-world industrial case study with reconfigurable manufacturing equipment.",
publisher = "Ieee-Inst Electrical Electronics Engineers Inc, Piscataway",
journal = "Ieee Transactions on Industrial Informatics",
title = "Attacks on Distributed Sequential Control in Manufacturing Automation",
pages = "786-775",
number = "2",
volume = "17",
doi = "10.1109/TII.2020.2987629"
}

Jakovljević, Ž., Lesi, V.,& Pajić, M.. (2021). Attacks on Distributed Sequential Control in Manufacturing Automation. in Ieee Transactions on Industrial Informatics
Ieee-Inst Electrical Electronics Engineers Inc, Piscataway., 17(2), 775-786.
https://doi.org/10.1109/TII.2020.2987629

Jakovljević Ž, Lesi V, Pajić M. Attacks on Distributed Sequential Control in Manufacturing Automation. in Ieee Transactions on Industrial Informatics. 2021;17(2):775-786.
doi:10.1109/TII.2020.2987629 .

Jakovljević, Živana, Lesi, Vuk, Pajić, Miroslav, "Attacks on Distributed Sequential Control in Manufacturing Automation" in Ieee Transactions on Industrial Informatics, 17, no. 2 (2021):775-786,
https://doi.org/10.1109/TII.2020.2987629 . .

TY  - JOUR
AU  - Nedeljković, Dušan
AU  - Jakovljević, Živana
AU  - Miljković, Zoran
AU  - Pajić, Miroslav
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3442
AB  - Concept of Industry 4.0 and implementation of Cyber Physical Systems (CPS) and Internet of Things (IoT) in industrial plants are changing the way we manufacture. Introduction of industrial IoT leads to ubiquitous communication (usually wireless) between devices in industrial control systems, thus introducing numerous security concerns and opening up wide space for potential malicious threats and attacks. As a consequence of various cyber-attacks, fatal failures can occur on system parts or the system as a whole. Therefore, security mechanisms must be developed to provide sufficient resilience to cyber-attacks and keep the system safe and protected. In this paper we present a method for detection of attacks on sensor signals, based on e insensitive support vector regression (e-SVR). The method is implemented on publicly available data obtained from Secure Water Treatment (SWaT) testbed as well as on a real-world continuous time controlled electro-pneumatic positioning system. In both cases, the method successfully detected all considered attacks (without false positives).
PB  - Beograd : Društvo za telekomunikacije ; Akademska misao
T2  - Telfor Journal
T1  - Detection of cyber-attacks in systems with distributed control based on support vector regression
EP  - 109
IS  - 2
SP  - 104
VL  - 12
DO  - 10.5937/TELFOR2002104N
ER  - 

@article{
author = "Nedeljković, Dušan and Jakovljević, Živana and Miljković, Zoran and Pajić, Miroslav",
year = "2020",
abstract = "Concept of Industry 4.0 and implementation of Cyber Physical Systems (CPS) and Internet of Things (IoT) in industrial plants are changing the way we manufacture. Introduction of industrial IoT leads to ubiquitous communication (usually wireless) between devices in industrial control systems, thus introducing numerous security concerns and opening up wide space for potential malicious threats and attacks. As a consequence of various cyber-attacks, fatal failures can occur on system parts or the system as a whole. Therefore, security mechanisms must be developed to provide sufficient resilience to cyber-attacks and keep the system safe and protected. In this paper we present a method for detection of attacks on sensor signals, based on e insensitive support vector regression (e-SVR). The method is implemented on publicly available data obtained from Secure Water Treatment (SWaT) testbed as well as on a real-world continuous time controlled electro-pneumatic positioning system. In both cases, the method successfully detected all considered attacks (without false positives).",
publisher = "Beograd : Društvo za telekomunikacije ; Akademska misao",
journal = "Telfor Journal",
title = "Detection of cyber-attacks in systems with distributed control based on support vector regression",
pages = "109-104",
number = "2",
volume = "12",
doi = "10.5937/TELFOR2002104N"
}

Nedeljković, D., Jakovljević, Ž., Miljković, Z.,& Pajić, M.. (2020). Detection of cyber-attacks in systems with distributed control based on support vector regression. in Telfor Journal
Beograd : Društvo za telekomunikacije ; Akademska misao., 12(2), 104-109.
https://doi.org/10.5937/TELFOR2002104N

Nedeljković D, Jakovljević Ž, Miljković Z, Pajić M. Detection of cyber-attacks in systems with distributed control based on support vector regression. in Telfor Journal. 2020;12(2):104-109.
doi:10.5937/TELFOR2002104N .

Nedeljković, Dušan, Jakovljević, Živana, Miljković, Zoran, Pajić, Miroslav, "Detection of cyber-attacks in systems with distributed control based on support vector regression" in Telfor Journal, 12, no. 2 (2020):104-109,
https://doi.org/10.5937/TELFOR2002104N . .

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

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

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

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

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

TY  - CONF
AU  - Lesi, Vuk
AU  - Jakovljević, Živana
AU  - Pajić, Miroslav
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3119
AB  - Reconfigurable manufacturing systems supported by Industrial Internet-of-Things (IIoT) are modular and easily integrable, promoting efficient system/component reconfigurations with minimal downtime. Industrial systems are commonly based on sequential controllers described with Control Interpreted Petri Nets (CIPNs). Existing design methodologies to distribute centralized automation/control tasks focus on maintaining functional properties of the system during the process, while disregarding failures that may occur during execution (e. g., communication packet drops, sensing or actuation failures). Consequently, in this work, we provide a missing link for reliable IIoT-based distributed automation. We introduce a method to transform distributed control models based on CIPNs into Stochastic Reward Nets that enable integration of realistic fault models (e. g., probabilistic link models). We show how to specify desired system properties to enable verification under the adopted communication/fault models, both at design-and run-time; we also show feasibility of runtime verification on the edge, with a continuously updated system model. Our approach is used on real industrial systems, resulting in modifications of local controllers to guarantee reliable system operation in realistic IIoT environments.
PB  - Assoc Computing Machinery, New York
C3  - Proceedings of the 2019 International Conference on Internet of Things Design and Implementation (IoTDI ’19)
T1  - Reliable Industrial IoT-Based Distributed Automation
EP  - 105
SP  - 94
DO  - 10.1145/3302505.3310072
ER  - 

@conference{
author = "Lesi, Vuk and Jakovljević, Živana and Pajić, Miroslav",
year = "2019",
abstract = "Reconfigurable manufacturing systems supported by Industrial Internet-of-Things (IIoT) are modular and easily integrable, promoting efficient system/component reconfigurations with minimal downtime. Industrial systems are commonly based on sequential controllers described with Control Interpreted Petri Nets (CIPNs). Existing design methodologies to distribute centralized automation/control tasks focus on maintaining functional properties of the system during the process, while disregarding failures that may occur during execution (e. g., communication packet drops, sensing or actuation failures). Consequently, in this work, we provide a missing link for reliable IIoT-based distributed automation. We introduce a method to transform distributed control models based on CIPNs into Stochastic Reward Nets that enable integration of realistic fault models (e. g., probabilistic link models). We show how to specify desired system properties to enable verification under the adopted communication/fault models, both at design-and run-time; we also show feasibility of runtime verification on the edge, with a continuously updated system model. Our approach is used on real industrial systems, resulting in modifications of local controllers to guarantee reliable system operation in realistic IIoT environments.",
publisher = "Assoc Computing Machinery, New York",
journal = "Proceedings of the 2019 International Conference on Internet of Things Design and Implementation (IoTDI ’19)",
title = "Reliable Industrial IoT-Based Distributed Automation",
pages = "105-94",
doi = "10.1145/3302505.3310072"
}

Lesi, V., Jakovljević, Ž.,& Pajić, M.. (2019). Reliable Industrial IoT-Based Distributed Automation. in Proceedings of the 2019 International Conference on Internet of Things Design and Implementation (IoTDI ’19)
Assoc Computing Machinery, New York., 94-105.
https://doi.org/10.1145/3302505.3310072

Lesi V, Jakovljević Ž, Pajić M. Reliable Industrial IoT-Based Distributed Automation. in Proceedings of the 2019 International Conference on Internet of Things Design and Implementation (IoTDI ’19). 2019;:94-105.
doi:10.1145/3302505.3310072 .

Lesi, Vuk, Jakovljević, Živana, Pajić, Miroslav, "Reliable Industrial IoT-Based Distributed Automation" in Proceedings of the 2019 International Conference on Internet of Things Design and Implementation (IoTDI ’19) (2019):94-105,
https://doi.org/10.1145/3302505.3310072 . .

TY  - CONF
AU  - Lesi, Vuk
AU  - Jakovljević, Živana
AU  - Pajić, Miroslav
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3172
AB  - Due to misaligned clock sources, distributed control in Cyber-Physical Systems (CPS) requires not only synchronous execution of control algorithms on distributed system components, which we refer to as cyber-synchronization, but also appropriate generation of actuation signals-we refer to this as physical-synchronization. In this paper, we define general requirements for cyber-physical synchronization, as well as show their use on a specific real-world application-distributed motion control for reconfigurable manufacturing systems. We present synchronization challenges in such systems and investigate effects of synchronization errors on the overall system functionality (i.e., machining accuracy). Furthermore, we introduce a low-cost synchronization scheme that can be implemented with of-the-shelf components and validate it on standardized accuracy tests with 2D configurations of industry-grade single-axis robots. We show that our cyber-physical synchronization techniques ensure minimal accuracy impairment of distributed motion control without introducing significant cost/overhead to system design.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
T1  - Synchronization of Distributed Controllers in Cyber-Physical Systems
EP  - 717
EP  - ONR [N00014-17-1-2504]
SP  - 710
VL  - 2019
DO  - 10.1109/ETFA.2019.8869467
ER  - 

@conference{
author = "Lesi, Vuk and Jakovljević, Živana and Pajić, Miroslav",
year = "2019",
abstract = "Due to misaligned clock sources, distributed control in Cyber-Physical Systems (CPS) requires not only synchronous execution of control algorithms on distributed system components, which we refer to as cyber-synchronization, but also appropriate generation of actuation signals-we refer to this as physical-synchronization. In this paper, we define general requirements for cyber-physical synchronization, as well as show their use on a specific real-world application-distributed motion control for reconfigurable manufacturing systems. We present synchronization challenges in such systems and investigate effects of synchronization errors on the overall system functionality (i.e., machining accuracy). Furthermore, we introduce a low-cost synchronization scheme that can be implemented with of-the-shelf components and validate it on standardized accuracy tests with 2D configurations of industry-grade single-axis robots. We show that our cyber-physical synchronization techniques ensure minimal accuracy impairment of distributed motion control without introducing significant cost/overhead to system design.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "IEEE International Conference on Emerging Technologies and Factory Automation, ETFA",
title = "Synchronization of Distributed Controllers in Cyber-Physical Systems",
pages = "717-ONR [N00014-17-1-2504]-710",
volume = "2019",
doi = "10.1109/ETFA.2019.8869467"
}

Lesi, V., Jakovljević, Ž.,& Pajić, M.. (2019). Synchronization of Distributed Controllers in Cyber-Physical Systems. in IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Institute of Electrical and Electronics Engineers Inc.., 2019, 710-717.
https://doi.org/10.1109/ETFA.2019.8869467

Lesi V, Jakovljević Ž, Pajić M. Synchronization of Distributed Controllers in Cyber-Physical Systems. in IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. 2019;2019:710-717.
doi:10.1109/ETFA.2019.8869467 .

Lesi, Vuk, Jakovljević, Živana, Pajić, Miroslav, "Synchronization of Distributed Controllers in Cyber-Physical Systems" in IEEE International Conference on Emerging Technologies and Factory Automation, ETFA, 2019 (2019):710-717,
https://doi.org/10.1109/ETFA.2019.8869467 . .

TY  - CONF
AU  - Nedeljković, Dušan
AU  - Jakovljević, Živana
AU  - Miljković, Zoran
AU  - Pajić, Miroslav
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3168
AB  - Concept of Industry 4.0 and implementation of Cyber Physical Systems (CPS) and Internet of Things (IoT) in industrial plants are changing the way we manufacture. Introduction of industrial IoT leads to ubiquitous communication (usually wireless) between devices in industrial control systems, thus introducing numerous security concerns and opening up wide space for potential malicious threats and attacks. As a consequence of various cyber-attacks, fatal failures can occur on system parts or the system as a whole. Therefore, security mechanisms must be developed to provide sufficient resilience to cyber-attacks and keep the system safe and protected. In this paper we present a method for detection of attacks on signals in continuous time controlled electro-pneumatic positioning system that is implemented using smart devices with wireless communication capabilities. The method is based on epsilon insensitive support vector regression (epsilon-SVR); it is implemented on real-world system, and it successfully detected all considered attacks (without false positives) in real-time.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - 27th Telecommunications Forum, TELFOR 2019 - Proceedings, Serbia, Belgrade, November 26-27, 2019.
T1  - Detection of cyber-attacks in electro-pneumatic positioning system with distributed control
DO  - 10.1109/TELFOR48224.2019.8971062
ER  - 

@conference{
author = "Nedeljković, Dušan and Jakovljević, Živana and Miljković, Zoran and Pajić, Miroslav",
year = "2019",
abstract = "Concept of Industry 4.0 and implementation of Cyber Physical Systems (CPS) and Internet of Things (IoT) in industrial plants are changing the way we manufacture. Introduction of industrial IoT leads to ubiquitous communication (usually wireless) between devices in industrial control systems, thus introducing numerous security concerns and opening up wide space for potential malicious threats and attacks. As a consequence of various cyber-attacks, fatal failures can occur on system parts or the system as a whole. Therefore, security mechanisms must be developed to provide sufficient resilience to cyber-attacks and keep the system safe and protected. In this paper we present a method for detection of attacks on signals in continuous time controlled electro-pneumatic positioning system that is implemented using smart devices with wireless communication capabilities. The method is based on epsilon insensitive support vector regression (epsilon-SVR); it is implemented on real-world system, and it successfully detected all considered attacks (without false positives) in real-time.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "27th Telecommunications Forum, TELFOR 2019 - Proceedings, Serbia, Belgrade, November 26-27, 2019.",
title = "Detection of cyber-attacks in electro-pneumatic positioning system with distributed control",
doi = "10.1109/TELFOR48224.2019.8971062"
}

Nedeljković, D., Jakovljević, Ž., Miljković, Z.,& Pajić, M.. (2019). Detection of cyber-attacks in electro-pneumatic positioning system with distributed control. in 27th Telecommunications Forum, TELFOR 2019 - Proceedings, Serbia, Belgrade, November 26-27, 2019.
Institute of Electrical and Electronics Engineers Inc...
https://doi.org/10.1109/TELFOR48224.2019.8971062

Nedeljković D, Jakovljević Ž, Miljković Z, Pajić M. Detection of cyber-attacks in electro-pneumatic positioning system with distributed control. in 27th Telecommunications Forum, TELFOR 2019 - Proceedings, Serbia, Belgrade, November 26-27, 2019.. 2019;.
doi:10.1109/TELFOR48224.2019.8971062 .

Nedeljković, Dušan, Jakovljević, Živana, Miljković, Zoran, Pajić, Miroslav, "Detection of cyber-attacks in electro-pneumatic positioning system with distributed control" in 27th Telecommunications Forum, TELFOR 2019 - Proceedings, Serbia, Belgrade, November 26-27, 2019. (2019),
https://doi.org/10.1109/TELFOR48224.2019.8971062 . .

TY  - CONF
AU  - Jakovljević, Živana
AU  - Mitrović, S.
AU  - Pajić, Miroslav
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2717
AB  - Recent developments in the field of cyber physical systems (CPS) and internet of things (IoT) open up new possibilities in manufacturing. CPS and IoT represent enabling means for facilitating the companies’ adaptation to the ever-changing market needs and adoption of individualized manufacturing paradigm. It is foreseen that implementation of CPS and IoT will lead to new industrial revolution known as Industry 4.0. The fourth industrial revolution will bring about the radical changes in manufacturing process control through distribution of control tasks to intelligent devices. On the other hand, over the last decades International Electrotechnical Commission invested significant efforts in generation of the standard IEC 61499 for distributed automation systems. In this paper we provide the outline of the interconnection of IEC 61499 standard and Reference Architecture Model Industrie 4.0 in cyber physical production systems. The findings of the paper are illustrated using a realistic case study-an example of pneumatic manipulator that is made of CPS devices.
PB  - Springer Heidelberg
C3  - Lecture Notes in Mechanical Engineering
T1  - Cyber physical production systems-an IEC 61499 perspective
EP  - 39
SP  - 27
DO  - 10.1007/978-3-319-56430-2_3
ER  - 

@conference{
author = "Jakovljević, Živana and Mitrović, S. and Pajić, Miroslav",
year = "2017",
abstract = "Recent developments in the field of cyber physical systems (CPS) and internet of things (IoT) open up new possibilities in manufacturing. CPS and IoT represent enabling means for facilitating the companies’ adaptation to the ever-changing market needs and adoption of individualized manufacturing paradigm. It is foreseen that implementation of CPS and IoT will lead to new industrial revolution known as Industry 4.0. The fourth industrial revolution will bring about the radical changes in manufacturing process control through distribution of control tasks to intelligent devices. On the other hand, over the last decades International Electrotechnical Commission invested significant efforts in generation of the standard IEC 61499 for distributed automation systems. In this paper we provide the outline of the interconnection of IEC 61499 standard and Reference Architecture Model Industrie 4.0 in cyber physical production systems. The findings of the paper are illustrated using a realistic case study-an example of pneumatic manipulator that is made of CPS devices.",
publisher = "Springer Heidelberg",
journal = "Lecture Notes in Mechanical Engineering",
title = "Cyber physical production systems-an IEC 61499 perspective",
pages = "39-27",
doi = "10.1007/978-3-319-56430-2_3"
}

Jakovljević, Ž., Mitrović, S.,& Pajić, M.. (2017). Cyber physical production systems-an IEC 61499 perspective. in Lecture Notes in Mechanical Engineering
Springer Heidelberg., 27-39.
https://doi.org/10.1007/978-3-319-56430-2_3

Jakovljević Ž, Mitrović S, Pajić M. Cyber physical production systems-an IEC 61499 perspective. in Lecture Notes in Mechanical Engineering. 2017;:27-39.
doi:10.1007/978-3-319-56430-2_3 .

Jakovljević, Živana, Mitrović, S., Pajić, Miroslav, "Cyber physical production systems-an IEC 61499 perspective" in Lecture Notes in Mechanical Engineering (2017):27-39,
https://doi.org/10.1007/978-3-319-56430-2_3 . .

TY  - JOUR
AU  - Jakovljević, Živana
AU  - Majstorović, Vidosav D.
AU  - Stojadinović, Slavenko
AU  - Živković, Srđan
AU  - Gligorijević, Nemanja
AU  - Pajić, Miroslav
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2712
AB  - Increased product variety that market needs impose to manufacturers, requires high level adaptability of manufacturing systems that can be achieved through introduction of reconfigurable manufacturing systems composed of interoperable devices with ever-changing architecture. Control and management of such a complex system of systems requires fast and reliable real-time virtualization of real world applications as well as real-time feedback from virtual (cyber) model to the real world. The border line between real-world manufacturing system and its cyber representation is characterized by extremely high information permeability thus composing these two systems into a unique system—Cyber-Physical Manufacturing System (CPMS). Recent advances in the fields of Cyber-Physical Systems (CPS) and Internet of Things (IoT) enable creation of CPMS. In this paper we provide an overview of the research works that are currently conducted in the field of CPMS, and we outline the interconnection between CPMS and Industry 4.0. The motivation of this overview is the identification of the R&D activities that are necessary for industry-wide application of CPMS.
PB  - Springer Heidelberg
T2  - Lecture Notes in Mechanical Engineering
T1  - Cyber-physical manufacturing systems (CPMS)
EP  - 214
SP  - 199
DO  - 10.1007/978-3-319-56430-2_14
ER  - 

@article{
author = "Jakovljević, Živana and Majstorović, Vidosav D. and Stojadinović, Slavenko and Živković, Srđan and Gligorijević, Nemanja and Pajić, Miroslav",
year = "2017",
abstract = "Increased product variety that market needs impose to manufacturers, requires high level adaptability of manufacturing systems that can be achieved through introduction of reconfigurable manufacturing systems composed of interoperable devices with ever-changing architecture. Control and management of such a complex system of systems requires fast and reliable real-time virtualization of real world applications as well as real-time feedback from virtual (cyber) model to the real world. The border line between real-world manufacturing system and its cyber representation is characterized by extremely high information permeability thus composing these two systems into a unique system—Cyber-Physical Manufacturing System (CPMS). Recent advances in the fields of Cyber-Physical Systems (CPS) and Internet of Things (IoT) enable creation of CPMS. In this paper we provide an overview of the research works that are currently conducted in the field of CPMS, and we outline the interconnection between CPMS and Industry 4.0. The motivation of this overview is the identification of the R&D activities that are necessary for industry-wide application of CPMS.",
publisher = "Springer Heidelberg",
journal = "Lecture Notes in Mechanical Engineering",
title = "Cyber-physical manufacturing systems (CPMS)",
pages = "214-199",
doi = "10.1007/978-3-319-56430-2_14"
}

Jakovljević, Ž., Majstorović, V. D., Stojadinović, S., Živković, S., Gligorijević, N.,& Pajić, M.. (2017). Cyber-physical manufacturing systems (CPMS). in Lecture Notes in Mechanical Engineering
Springer Heidelberg., 199-214.
https://doi.org/10.1007/978-3-319-56430-2_14

Jakovljević Ž, Majstorović VD, Stojadinović S, Živković S, Gligorijević N, Pajić M. Cyber-physical manufacturing systems (CPMS). in Lecture Notes in Mechanical Engineering. 2017;:199-214.
doi:10.1007/978-3-319-56430-2_14 .

Jakovljević, Živana, Majstorović, Vidosav D., Stojadinović, Slavenko, Živković, Srđan, Gligorijević, Nemanja, Pajić, Miroslav, "Cyber-physical manufacturing systems (CPMS)" in Lecture Notes in Mechanical Engineering (2017):199-214,
https://doi.org/10.1007/978-3-319-56430-2_14 . .

TY  - CONF
AU  - Lesi, Vuk
AU  - Jakovljević, Živana
AU  - Pajić, Miroslav
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2322
AB  - Modern manufacturing systems require fast and effective adaptation to fluctuating market conditions and product diversification. This high level adaptability can be achieved through the utilization of Reconfigurable Manufacturing Systems (RMS), which should be based on modular equipment that is easily integrated, scalable, convertible in terms of functionality, and self diagnosable. RMS also necessitate the use of a dynamic controller architecture that is distributed, fully modular, and self configurable. In this paper, we present a control system design approach for reconfigurable machine tools through the use of modularized and decentralized CNC control. Specifically, we investigate design challenges for Plug-n-Play automation systems, where new system functionalities, such as adding new axes in existing CNC units, can be introduced without significant reconfiguration efforts and downtime costs. We propose a fully decentralized motion control architecture realized through a network of individual axis control modules. Reconfiguration of motion control systems based on this architecture can be achieved by only presenting the controller on each axis with information about machine configuration and the type of axis. This effectively enables modularity, reconfigurability, and interoperability of the machine control system. Finally, we present an implementation of the decentralized architecture based on the use of a real-time operating system, wireless networking, and low-cost ARM Cortex-M3 MCUs; we illustrate its effectiveness by considering machining of a standard test part defined in ISO 10791-7 using a software-in-the-loop testbed.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
T1  - Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems
VL  - 2016-November
DO  - 10.1109/ETFA.2016.7733524
ER  - 

@conference{
author = "Lesi, Vuk and Jakovljević, Živana and Pajić, Miroslav",
year = "2016",
abstract = "Modern manufacturing systems require fast and effective adaptation to fluctuating market conditions and product diversification. This high level adaptability can be achieved through the utilization of Reconfigurable Manufacturing Systems (RMS), which should be based on modular equipment that is easily integrated, scalable, convertible in terms of functionality, and self diagnosable. RMS also necessitate the use of a dynamic controller architecture that is distributed, fully modular, and self configurable. In this paper, we present a control system design approach for reconfigurable machine tools through the use of modularized and decentralized CNC control. Specifically, we investigate design challenges for Plug-n-Play automation systems, where new system functionalities, such as adding new axes in existing CNC units, can be introduced without significant reconfiguration efforts and downtime costs. We propose a fully decentralized motion control architecture realized through a network of individual axis control modules. Reconfiguration of motion control systems based on this architecture can be achieved by only presenting the controller on each axis with information about machine configuration and the type of axis. This effectively enables modularity, reconfigurability, and interoperability of the machine control system. Finally, we present an implementation of the decentralized architecture based on the use of a real-time operating system, wireless networking, and low-cost ARM Cortex-M3 MCUs; we illustrate its effectiveness by considering machining of a standard test part defined in ISO 10791-7 using a software-in-the-loop testbed.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "IEEE International Conference on Emerging Technologies and Factory Automation, ETFA",
title = "Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems",
volume = "2016-November",
doi = "10.1109/ETFA.2016.7733524"
}

Lesi, V., Jakovljević, Ž.,& Pajić, M.. (2016). Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems. in IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Institute of Electrical and Electronics Engineers Inc.., 2016-November.
https://doi.org/10.1109/ETFA.2016.7733524

Lesi V, Jakovljević Ž, Pajić M. Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems. in IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. 2016;2016-November.
doi:10.1109/ETFA.2016.7733524 .

Lesi, Vuk, Jakovljević, Živana, Pajić, Miroslav, "Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems" in IEEE International Conference on Emerging Technologies and Factory Automation, ETFA, 2016-November (2016),
https://doi.org/10.1109/ETFA.2016.7733524 . .

TY  - JOUR
AU  - Jakovljević, Živana
AU  - Petrović, Petar
AU  - Milković, Dragan
AU  - Pajić, Miroslav
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2203
AB  - Purpose - The purpose of this paper is to provide a method for the generation of information machines for part mating process diagnosis. Recognition of contact states between parts during robotized part mating represents a significant element of the system for active compliant robot motion. All proposed information machines for contact states recognition will recognize one of the possible contact states even when irregular events in the process occur, and the active motion planner will continue to send commands to robot controller according to the planned trajectory. Design/methodology/approach - The presented framework is based on the general theory of automata and formal languages. Starting from possible regular contact states transitions in part mating, the authors create an automaton for diagnostics, which, besides regular, accepts all irregular (observable and unobservable) process sequences. Findings - Contact states do not appear arbitrarily during regular processes, but in certain context. Theory of automata represents a solid basis for contextual recognition and diagnosis of irregularities in part mating. Research limitations/implications - The proposed methodology is elaborated and experimentally verified using an example of cylindrical part mating, and stick-slip effect as an observable irregularity. The future work will address the generation of diagnosers for other types of part mating tasks and extension of the set of observable irregularities. Practical implications - The process diagnosis increases the robustness of active compliant motion system. Originality/value - Although very important feedback information provider for active motion planner, part mating process monitoring was not frequently addressed in the past. In this paper, the authors propose a methodology for generation of part mating process diagnoser that is based on general automata theory.
PB  - Emerald Group Publishing Ltd, Bingley
T2  - Assembly Automation
T1  - Diagnosis of irregularities in the robotized part mating process based on contextual recognition of contact states transitions
EP  - 199
IS  - 2
SP  - 190
VL  - 35
DO  - 10.1108/AA-10-2014-077
ER  - 

@article{
author = "Jakovljević, Živana and Petrović, Petar and Milković, Dragan and Pajić, Miroslav",
year = "2015",
abstract = "Purpose - The purpose of this paper is to provide a method for the generation of information machines for part mating process diagnosis. Recognition of contact states between parts during robotized part mating represents a significant element of the system for active compliant robot motion. All proposed information machines for contact states recognition will recognize one of the possible contact states even when irregular events in the process occur, and the active motion planner will continue to send commands to robot controller according to the planned trajectory. Design/methodology/approach - The presented framework is based on the general theory of automata and formal languages. Starting from possible regular contact states transitions in part mating, the authors create an automaton for diagnostics, which, besides regular, accepts all irregular (observable and unobservable) process sequences. Findings - Contact states do not appear arbitrarily during regular processes, but in certain context. Theory of automata represents a solid basis for contextual recognition and diagnosis of irregularities in part mating. Research limitations/implications - The proposed methodology is elaborated and experimentally verified using an example of cylindrical part mating, and stick-slip effect as an observable irregularity. The future work will address the generation of diagnosers for other types of part mating tasks and extension of the set of observable irregularities. Practical implications - The process diagnosis increases the robustness of active compliant motion system. Originality/value - Although very important feedback information provider for active motion planner, part mating process monitoring was not frequently addressed in the past. In this paper, the authors propose a methodology for generation of part mating process diagnoser that is based on general automata theory.",
publisher = "Emerald Group Publishing Ltd, Bingley",
journal = "Assembly Automation",
title = "Diagnosis of irregularities in the robotized part mating process based on contextual recognition of contact states transitions",
pages = "199-190",
number = "2",
volume = "35",
doi = "10.1108/AA-10-2014-077"
}

Jakovljević, Ž., Petrović, P., Milković, D.,& Pajić, M.. (2015). Diagnosis of irregularities in the robotized part mating process based on contextual recognition of contact states transitions. in Assembly Automation
Emerald Group Publishing Ltd, Bingley., 35(2), 190-199.
https://doi.org/10.1108/AA-10-2014-077

Jakovljević Ž, Petrović P, Milković D, Pajić M. Diagnosis of irregularities in the robotized part mating process based on contextual recognition of contact states transitions. in Assembly Automation. 2015;35(2):190-199.
doi:10.1108/AA-10-2014-077 .

Jakovljević, Živana, Petrović, Petar, Milković, Dragan, Pajić, Miroslav, "Diagnosis of irregularities in the robotized part mating process based on contextual recognition of contact states transitions" in Assembly Automation, 35, no. 2 (2015):190-199,
https://doi.org/10.1108/AA-10-2014-077 . .

TY  - JOUR
AU  - Jakovljević, Živana
AU  - Puzović, Radovan
AU  - Pajić, Miroslav
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2195
AB  - Within industrial automation systems, three-dimensional (3-D) vision provides very useful feedback information in autonomous operation of various manufacturing equipment (e.g., industrial robots, material handling devices, assembly systems, and machine tools). The hardware performance in contemporary 3-D scanning devices is suitable for online utilization. However, the bottleneck is the lack of real-time algorithms for recognition of geometric primitives (e.g., planes and natural quadrics) from a scanned point cloud. One of the most important and the most frequent geometric primitive in various engineering tasks is plane. In this paper, we propose a new fast one-pass algorithm for recognition (segmentation and fitting) of planar segments from a point cloud. To effectively segment planar regions, we exploit the orthonormality of certain wavelets to polynomial function, as well as their sensitivity to abrupt changes. After segmentation of planar regions, we estimate the parameters of corresponding planes using standard fitting procedures. For point cloud structuring, a z-buffer algorithm with mesh triangles representation in barycentric coordinates is employed. The proposed recognition method is tested and experimentally validated in several real-world case studies.
PB  - IEEE - Inst Electrical Electronics Engineers Inc, Piscataway
T2  - IEEE Transactions on Industrial Informatics
T1  - Recognition of Planar Segments in Point Cloud Based on Wavelet Transform
EP  - 352
IS  - 2
SP  - 342
VL  - 11
DO  - 10.1109/TII.2015.2389195
ER  - 

@article{
author = "Jakovljević, Živana and Puzović, Radovan and Pajić, Miroslav",
year = "2015",
abstract = "Within industrial automation systems, three-dimensional (3-D) vision provides very useful feedback information in autonomous operation of various manufacturing equipment (e.g., industrial robots, material handling devices, assembly systems, and machine tools). The hardware performance in contemporary 3-D scanning devices is suitable for online utilization. However, the bottleneck is the lack of real-time algorithms for recognition of geometric primitives (e.g., planes and natural quadrics) from a scanned point cloud. One of the most important and the most frequent geometric primitive in various engineering tasks is plane. In this paper, we propose a new fast one-pass algorithm for recognition (segmentation and fitting) of planar segments from a point cloud. To effectively segment planar regions, we exploit the orthonormality of certain wavelets to polynomial function, as well as their sensitivity to abrupt changes. After segmentation of planar regions, we estimate the parameters of corresponding planes using standard fitting procedures. For point cloud structuring, a z-buffer algorithm with mesh triangles representation in barycentric coordinates is employed. The proposed recognition method is tested and experimentally validated in several real-world case studies.",
publisher = "IEEE - Inst Electrical Electronics Engineers Inc, Piscataway",
journal = "IEEE Transactions on Industrial Informatics",
title = "Recognition of Planar Segments in Point Cloud Based on Wavelet Transform",
pages = "352-342",
number = "2",
volume = "11",
doi = "10.1109/TII.2015.2389195"
}

Jakovljević, Ž., Puzović, R.,& Pajić, M.. (2015). Recognition of Planar Segments in Point Cloud Based on Wavelet Transform. in IEEE Transactions on Industrial Informatics
IEEE - Inst Electrical Electronics Engineers Inc, Piscataway., 11(2), 342-352.
https://doi.org/10.1109/TII.2015.2389195

Jakovljević Ž, Puzović R, Pajić M. Recognition of Planar Segments in Point Cloud Based on Wavelet Transform. in IEEE Transactions on Industrial Informatics. 2015;11(2):342-352.
doi:10.1109/TII.2015.2389195 .

Jakovljević, Živana, Puzović, Radovan, Pajić, Miroslav, "Recognition of Planar Segments in Point Cloud Based on Wavelet Transform" in IEEE Transactions on Industrial Informatics, 11, no. 2 (2015):342-352,
https://doi.org/10.1109/TII.2015.2389195 . .

TY  - JOUR
AU  - Jakovljević, Živana
AU  - Petrović, Petar
AU  - Miković, Vladimir Dj.
AU  - Pajić, Miroslav
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1886
AB  - This paper presents a methodology for generating a fuzzy inference mechanism (FIM) for recognizing contact states within robotic part mating using active compliant motion. In the part mating process, significant uncertainties are inherently present. As a result it is pertinent that contact states recognition systems operating in such environment be able to make decisions on the contact state currently present in the process, based on data full of uncertainties and imprecision. In such conditions, implementation of fuzzy logic and interval inference brings significant robustness to the system. As a starting point for FIM generation, we use a quasi-static model of the mating force between objects. By applying Discrete Wavelet Transform to the signal generated using this model, we extract qualitative and representative features for classification into contact states. Thus, the obtained patterns are optimally classified using support vector machines (SVM). We exploit the equivalence of SVM and Takagi-Sugeno fuzzy rules based systems for generation of FIM for classification into contact states. In this way, crisp granulation of the feature space obtained using SVM is replaced by optimal fuzzy granulation and robustness of the recognition system is significantly increased. The information machine for contact states recognition that is designed using the given methodology simultaneously uses the advantages of creation of machine based on the process model and the advantages of application of FIM. Unlike the common methods, our approach for creating a knowledge base for the inference machine is neither heuristic, intuitive nor empirical. The proposed methodology was elaborated and experimentally tested using an example of a cylindrical peg in hole as a typical benchmark test.
PB  - Springer, Dordrecht
T2  - Journal of Intelligent Manufacturing
T1  - Fuzzy inference mechanism for recognition of contact states in intelligent robotic assembly
EP  - 587
IS  - 3
SP  - 571
VL  - 25
DO  - 10.1007/s10845-012-0706-x
ER  - 

@article{
author = "Jakovljević, Živana and Petrović, Petar and Miković, Vladimir Dj. and Pajić, Miroslav",
year = "2014",
abstract = "This paper presents a methodology for generating a fuzzy inference mechanism (FIM) for recognizing contact states within robotic part mating using active compliant motion. In the part mating process, significant uncertainties are inherently present. As a result it is pertinent that contact states recognition systems operating in such environment be able to make decisions on the contact state currently present in the process, based on data full of uncertainties and imprecision. In such conditions, implementation of fuzzy logic and interval inference brings significant robustness to the system. As a starting point for FIM generation, we use a quasi-static model of the mating force between objects. By applying Discrete Wavelet Transform to the signal generated using this model, we extract qualitative and representative features for classification into contact states. Thus, the obtained patterns are optimally classified using support vector machines (SVM). We exploit the equivalence of SVM and Takagi-Sugeno fuzzy rules based systems for generation of FIM for classification into contact states. In this way, crisp granulation of the feature space obtained using SVM is replaced by optimal fuzzy granulation and robustness of the recognition system is significantly increased. The information machine for contact states recognition that is designed using the given methodology simultaneously uses the advantages of creation of machine based on the process model and the advantages of application of FIM. Unlike the common methods, our approach for creating a knowledge base for the inference machine is neither heuristic, intuitive nor empirical. The proposed methodology was elaborated and experimentally tested using an example of a cylindrical peg in hole as a typical benchmark test.",
publisher = "Springer, Dordrecht",
journal = "Journal of Intelligent Manufacturing",
title = "Fuzzy inference mechanism for recognition of contact states in intelligent robotic assembly",
pages = "587-571",
number = "3",
volume = "25",
doi = "10.1007/s10845-012-0706-x"
}

Jakovljević, Ž., Petrović, P., Miković, V. Dj.,& Pajić, M.. (2014). Fuzzy inference mechanism for recognition of contact states in intelligent robotic assembly. in Journal of Intelligent Manufacturing
Springer, Dordrecht., 25(3), 571-587.
https://doi.org/10.1007/s10845-012-0706-x

Jakovljević Ž, Petrović P, Miković VD, Pajić M. Fuzzy inference mechanism for recognition of contact states in intelligent robotic assembly. in Journal of Intelligent Manufacturing. 2014;25(3):571-587.
doi:10.1007/s10845-012-0706-x .

Jakovljević, Živana, Petrović, Petar, Miković, Vladimir Dj., Pajić, Miroslav, "Fuzzy inference mechanism for recognition of contact states in intelligent robotic assembly" in Journal of Intelligent Manufacturing, 25, no. 3 (2014):571-587,
https://doi.org/10.1007/s10845-012-0706-x . .

TY  - CONF
AU  - Jakovljević, Živana
AU  - Pajić, Miroslav
AU  - Aleksendrić, Dragan
AU  - Milković, Dragan
PY  - 2011
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5188
AB  - The scope of this paper is the research of the possibilities of application of Wireless Sensor Networks (WSNs) for monitoring of machining operations. Due to the limited battery lifetime, WSNs are energy constrained networks and energy efficiency of the network is a very important issue. Since communication requires significantly more energy then processing, instead of sending raw data through the network, data processing and decision making should be performed in the node. Consequently, as a basis for WSN design we consider IEEE 802.15.4 Wireless Networking Standard, created for low data rates and very low power consumption which makes it suitable for remote monitoring and control. In this paper, a prototype of the node, designed for acceleration monitoring, has been developed. The node has been created at the Faculty of Mechanical Engineering in Belgrade and it is based on low power Atmel Atmega16 microcontroller and IEEE 802.15.4 compatible transceiver.
C3  - Proceedings of the 34th International Conference on Production Engineering
T1  - Wireless Sensor Network Application in Monitoring of Machining Operations
EP  - 368
SP  - 365
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5188
ER  - 

@conference{
author = "Jakovljević, Živana and Pajić, Miroslav and Aleksendrić, Dragan and Milković, Dragan",
year = "2011",
abstract = "The scope of this paper is the research of the possibilities of application of Wireless Sensor Networks (WSNs) for monitoring of machining operations. Due to the limited battery lifetime, WSNs are energy constrained networks and energy efficiency of the network is a very important issue. Since communication requires significantly more energy then processing, instead of sending raw data through the network, data processing and decision making should be performed in the node. Consequently, as a basis for WSN design we consider IEEE 802.15.4 Wireless Networking Standard, created for low data rates and very low power consumption which makes it suitable for remote monitoring and control. In this paper, a prototype of the node, designed for acceleration monitoring, has been developed. The node has been created at the Faculty of Mechanical Engineering in Belgrade and it is based on low power Atmel Atmega16 microcontroller and IEEE 802.15.4 compatible transceiver.",
journal = "Proceedings of the 34th International Conference on Production Engineering",
title = "Wireless Sensor Network Application in Monitoring of Machining Operations",
pages = "368-365",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5188"
}

Jakovljević, Ž., Pajić, M., Aleksendrić, D.,& Milković, D.. (2011). Wireless Sensor Network Application in Monitoring of Machining Operations. in Proceedings of the 34th International Conference on Production Engineering, 365-368.
https://hdl.handle.net/21.15107/rcub_machinery_5188

Jakovljević Ž, Pajić M, Aleksendrić D, Milković D. Wireless Sensor Network Application in Monitoring of Machining Operations. in Proceedings of the 34th International Conference on Production Engineering. 2011;:365-368.
https://hdl.handle.net/21.15107/rcub_machinery_5188 .

Jakovljević, Živana, Pajić, Miroslav, Aleksendrić, Dragan, Milković, Dragan, "Wireless Sensor Network Application in Monitoring of Machining Operations" in Proceedings of the 34th International Conference on Production Engineering (2011):365-368,
https://hdl.handle.net/21.15107/rcub_machinery_5188 .