TY  - JOUR
AU  - Golubović, Zorana
AU  - Danilov, Ivan
AU  - Bojović, Božica
AU  - Petrov, Ljubiša
AU  - Sedmak, Aleksandar
AU  - Mišković, Žarko
AU  - Mitrović, Nenad
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7077
AB  - Additive manufacturing technologies have developed rapidly in recent decades, pushing
the limits of known manufacturing processes. The need to study the properties of the different
materials used for these processes comprehensively and in detail has become a primary goal in order
to get the best out of the manufacturing itself. The widely used thermoplastic polymer material
acrylonitrile butadiene styrene (ABS) was selected in the form of both filaments and ABS-like resins
to investigate and compare the mechanical properties through a series of different tests. ABS-like
resin material is commercially available, but it is not a sufficiently mechanically studied form of
the material, which leads to the rather limited literature. Considering that ABS resin is a declared
material that behaves like the ABS filament but in a different form, the objective of this study was to
compare these two commercially available materials printed with three different 3D printers, namely
Fused Deposition Modelling (FDM), Stereolithography (SLA) and Digital Light Processing (DLP). A
total of 45 test specimens with geometries and test protocols conforming to the relevant standards
were subjected to a series of tensile, three-point bending and compression tests to determine their
mechanical properties. Characterization also included evaluation of morphology with 2D and 3D
microscopy, dimensional accuracy of 3D scans, and Shore A hardness of each material and 3D printing
process. Tensile testing results have shown that FDM toughness is 40% of the value for DLP. FDM
elongation at break is 37% of DLP, while ultimate tensile stress for SLA is 27% higher than FDM value.
Elastic modulus for FDM and SLA coincide. Flexure testing results indicate that value of DLP flexural
modulus is 54% of the FDM value. SLA strain value is 59% of FDM, and DLP ultimate flexure stress
is 77% of the value for FDM. Compression test results imply that FDM specimens absorb at least
twice as much energy as vat polymerized specimens. Strain at break for SLA is 72% and strain at
ultimate stress is 60% of FDM values. FDM yield stress is 32% higher than DLP value. SLA ultimate
compressive stress is half of FDM, while value for DLP compressive modulus is 69% of the FDM
value. The results obtained are beneficial and give a more comprehensive picture of the behavior of
the ABS polymers used in different forms and different AM processes
PB  - MDPI
T2  - Polymers
T1  - A Comprehensive Mechanical Examination of ABS and ABS-like Polymers Additively Manufactured by Material Extrusion and Vat Photopolymerization Processes
IS  - 21
SP  - 4197
VL  - 15
DO  - 10.3390/polym15214197
ER  - 

@article{
author = "Golubović, Zorana and Danilov, Ivan and Bojović, Božica and Petrov, Ljubiša and Sedmak, Aleksandar and Mišković, Žarko and Mitrović, Nenad",
year = "2023",
abstract = "Additive manufacturing technologies have developed rapidly in recent decades, pushing
the limits of known manufacturing processes. The need to study the properties of the different
materials used for these processes comprehensively and in detail has become a primary goal in order
to get the best out of the manufacturing itself. The widely used thermoplastic polymer material
acrylonitrile butadiene styrene (ABS) was selected in the form of both filaments and ABS-like resins
to investigate and compare the mechanical properties through a series of different tests. ABS-like
resin material is commercially available, but it is not a sufficiently mechanically studied form of
the material, which leads to the rather limited literature. Considering that ABS resin is a declared
material that behaves like the ABS filament but in a different form, the objective of this study was to
compare these two commercially available materials printed with three different 3D printers, namely
Fused Deposition Modelling (FDM), Stereolithography (SLA) and Digital Light Processing (DLP). A
total of 45 test specimens with geometries and test protocols conforming to the relevant standards
were subjected to a series of tensile, three-point bending and compression tests to determine their
mechanical properties. Characterization also included evaluation of morphology with 2D and 3D
microscopy, dimensional accuracy of 3D scans, and Shore A hardness of each material and 3D printing
process. Tensile testing results have shown that FDM toughness is 40% of the value for DLP. FDM
elongation at break is 37% of DLP, while ultimate tensile stress for SLA is 27% higher than FDM value.
Elastic modulus for FDM and SLA coincide. Flexure testing results indicate that value of DLP flexural
modulus is 54% of the FDM value. SLA strain value is 59% of FDM, and DLP ultimate flexure stress
is 77% of the value for FDM. Compression test results imply that FDM specimens absorb at least
twice as much energy as vat polymerized specimens. Strain at break for SLA is 72% and strain at
ultimate stress is 60% of FDM values. FDM yield stress is 32% higher than DLP value. SLA ultimate
compressive stress is half of FDM, while value for DLP compressive modulus is 69% of the FDM
value. The results obtained are beneficial and give a more comprehensive picture of the behavior of
the ABS polymers used in different forms and different AM processes",
publisher = "MDPI",
journal = "Polymers",
title = "A Comprehensive Mechanical Examination of ABS and ABS-like Polymers Additively Manufactured by Material Extrusion and Vat Photopolymerization Processes",
number = "21",
pages = "4197",
volume = "15",
doi = "10.3390/polym15214197"
}

Golubović, Z., Danilov, I., Bojović, B., Petrov, L., Sedmak, A., Mišković, Ž.,& Mitrović, N.. (2023). A Comprehensive Mechanical Examination of ABS and ABS-like Polymers Additively Manufactured by Material Extrusion and Vat Photopolymerization Processes. in Polymers
MDPI., 15(21), 4197.
https://doi.org/10.3390/polym15214197

Golubović Z, Danilov I, Bojović B, Petrov L, Sedmak A, Mišković Ž, Mitrović N. A Comprehensive Mechanical Examination of ABS and ABS-like Polymers Additively Manufactured by Material Extrusion and Vat Photopolymerization Processes. in Polymers. 2023;15(21):4197.
doi:10.3390/polym15214197 .

Golubović, Zorana, Danilov, Ivan, Bojović, Božica, Petrov, Ljubiša, Sedmak, Aleksandar, Mišković, Žarko, Mitrović, Nenad, "A Comprehensive Mechanical Examination of ABS and ABS-like Polymers Additively Manufactured by Material Extrusion and Vat Photopolymerization Processes" in Polymers, 15, no. 21 (2023):4197,
https://doi.org/10.3390/polym15214197 . .

TY  - CONF
AU  - Danilov, Ivan
AU  - Šaponjić, Đorđe
AU  - Bojović, Božica
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7376
AB  - The novel Mixed Reality Tools as part of Augmented Reality Technologies enables new approaches in design, education, presentation and collaboration in all aspects of human life. Industrial revolution 4.0 gives new possibilities for the development by extending application of Mixed Reality to be used in all steps of the design process. Integration of the digital world in the real world gives a better view the during design process and helps designers collaborate all over the world today in real time. Using Hololight AR 3S collaborative software which provides the opportunity to see 3D models interact with the real world, giving full insight in fulfillment of ergonomic and functional requirements. AR 3S software helps understand very complex solutions and designs in great details. The possibility to use online meetings with complete interaction in Mixed Reality of all participants helps better understanding and collaboration. Using step by step guides in Mixed Reality environments, provides enormous possibilities for presentation and education letting users see holograms (stationary and animated), images and videos. Mixed reality in Microsoft Dynamics 365 Guides allows incorporate web based information and documents in online real time experience providing a chance to users to actively engage with the presented material. All the material within the guides is a cloud based solution enabling large numbers of the guide users to use them at the same time. As an educational tool Microsoft Dynamics 365 Guides gives also feedback to the author in regards to how fast and how well presented material is covered and understood. Using Microsoft Dynamics 365 Remote Assist allow user to share the amazing Mixed Reality experiences with other users online when presenting concepts and designs to a large audience. All new Mixed Reality Tools will be, in the future an integral part of education and presentation of design solutions.
C3  - Proceedings of Conference SmartArt – Art and Science Applied “Experience and Vision”
T1  - Implantation of Mixed Reality Tools in Design Enhancement Application
EP  - 265
SP  - 250
VL  - 2
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7376
ER  - 

@conference{
author = "Danilov, Ivan and Šaponjić, Đorđe and Bojović, Božica",
year = "2022",
abstract = "The novel Mixed Reality Tools as part of Augmented Reality Technologies enables new approaches in design, education, presentation and collaboration in all aspects of human life. Industrial revolution 4.0 gives new possibilities for the development by extending application of Mixed Reality to be used in all steps of the design process. Integration of the digital world in the real world gives a better view the during design process and helps designers collaborate all over the world today in real time. Using Hololight AR 3S collaborative software which provides the opportunity to see 3D models interact with the real world, giving full insight in fulfillment of ergonomic and functional requirements. AR 3S software helps understand very complex solutions and designs in great details. The possibility to use online meetings with complete interaction in Mixed Reality of all participants helps better understanding and collaboration. Using step by step guides in Mixed Reality environments, provides enormous possibilities for presentation and education letting users see holograms (stationary and animated), images and videos. Mixed reality in Microsoft Dynamics 365 Guides allows incorporate web based information and documents in online real time experience providing a chance to users to actively engage with the presented material. All the material within the guides is a cloud based solution enabling large numbers of the guide users to use them at the same time. As an educational tool Microsoft Dynamics 365 Guides gives also feedback to the author in regards to how fast and how well presented material is covered and understood. Using Microsoft Dynamics 365 Remote Assist allow user to share the amazing Mixed Reality experiences with other users online when presenting concepts and designs to a large audience. All new Mixed Reality Tools will be, in the future an integral part of education and presentation of design solutions.",
journal = "Proceedings of Conference SmartArt – Art and Science Applied “Experience and Vision”",
title = "Implantation of Mixed Reality Tools in Design Enhancement Application",
pages = "265-250",
volume = "2",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7376"
}

Danilov, I., Šaponjić, Đ.,& Bojović, B.. (2022). Implantation of Mixed Reality Tools in Design Enhancement Application. in Proceedings of Conference SmartArt – Art and Science Applied “Experience and Vision”, 2, 250-265.
https://hdl.handle.net/21.15107/rcub_machinery_7376

Danilov I, Šaponjić Đ, Bojović B. Implantation of Mixed Reality Tools in Design Enhancement Application. in Proceedings of Conference SmartArt – Art and Science Applied “Experience and Vision”. 2022;2:250-265.
https://hdl.handle.net/21.15107/rcub_machinery_7376 .

Danilov, Ivan, Šaponjić, Đorđe, Bojović, Božica, "Implantation of Mixed Reality Tools in Design Enhancement Application" in Proceedings of Conference SmartArt – Art and Science Applied “Experience and Vision”, 2 (2022):250-265,
https://hdl.handle.net/21.15107/rcub_machinery_7376 .

TY  - CONF
AU  - Sorgini, Francesca
AU  - Farulla, Giuseppe Airo
AU  - Lukić, Nikola
AU  - Danilov, Ivan
AU  - Roveda, Loris
AU  - Milivojević, Miloš
AU  - Pulikottil, Terrin Babu
AU  - Carrozza, Maria Chiara
AU  - Prinetto, Paolo
AU  - Tolio, Tullio
AU  - Oddo, Calogero Maria
AU  - Petrović, Petar
AU  - Bojović, Božica
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3445
AB  - Sensors and human machine interfaces for collaborative robotics will allow smooth interaction in contexts ranging from industry to tele-medicine and rescue. This paper introduces a bidirectional communication system to achieve multisensory telepresence during the gestural control of an industrial robotic arm. Force and motion from the robot are converted in neuromorphic haptic stimuli delivered on the user's hand through a vibro-tactile glove. Untrained personnel participated in an experimental task benchmarking a pick-and-place operation. The robot end-effector was used to sequentially press six buttons, illuminated according to a random sequence, and comparing the tasks executed without and with tactile feedback. The results demonstrated the reliability of the hand tracking strategy developed for controlling the robotic arm, and the effectiveness of a neuronal spiking model for encoding hand displacement and exerted forces in order to promote a fluid embodiment of the haptic interface and control strategy. The main contribution of this paper is in presenting a robotic arm under gesture-based remote control with multisensory telepresence, demonstrating for the first time that a spiking haptic interface can be used to effectively deliver on the skin surface a sequence of stimuli emulating the neural code of the mechanoreceptors beneath.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - 2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020 -
T1  - Tactile sensing with gesture-controlled collaborative robot
EP  - 368
SP  - 364
DO  - 10.1109/MetroInd4.0IoT48571.2020.9138183
ER  - 

@conference{
author = "Sorgini, Francesca and Farulla, Giuseppe Airo and Lukić, Nikola and Danilov, Ivan and Roveda, Loris and Milivojević, Miloš and Pulikottil, Terrin Babu and Carrozza, Maria Chiara and Prinetto, Paolo and Tolio, Tullio and Oddo, Calogero Maria and Petrović, Petar and Bojović, Božica",
year = "2020",
abstract = "Sensors and human machine interfaces for collaborative robotics will allow smooth interaction in contexts ranging from industry to tele-medicine and rescue. This paper introduces a bidirectional communication system to achieve multisensory telepresence during the gestural control of an industrial robotic arm. Force and motion from the robot are converted in neuromorphic haptic stimuli delivered on the user's hand through a vibro-tactile glove. Untrained personnel participated in an experimental task benchmarking a pick-and-place operation. The robot end-effector was used to sequentially press six buttons, illuminated according to a random sequence, and comparing the tasks executed without and with tactile feedback. The results demonstrated the reliability of the hand tracking strategy developed for controlling the robotic arm, and the effectiveness of a neuronal spiking model for encoding hand displacement and exerted forces in order to promote a fluid embodiment of the haptic interface and control strategy. The main contribution of this paper is in presenting a robotic arm under gesture-based remote control with multisensory telepresence, demonstrating for the first time that a spiking haptic interface can be used to effectively deliver on the skin surface a sequence of stimuli emulating the neural code of the mechanoreceptors beneath.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020 -",
title = "Tactile sensing with gesture-controlled collaborative robot",
pages = "368-364",
doi = "10.1109/MetroInd4.0IoT48571.2020.9138183"
}

Sorgini, F., Farulla, G. A., Lukić, N., Danilov, I., Roveda, L., Milivojević, M., Pulikottil, T. B., Carrozza, M. C., Prinetto, P., Tolio, T., Oddo, C. M., Petrović, P.,& Bojović, B.. (2020). Tactile sensing with gesture-controlled collaborative robot. in 2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020 -
Institute of Electrical and Electronics Engineers Inc.., 364-368.
https://doi.org/10.1109/MetroInd4.0IoT48571.2020.9138183

Sorgini F, Farulla GA, Lukić N, Danilov I, Roveda L, Milivojević M, Pulikottil TB, Carrozza MC, Prinetto P, Tolio T, Oddo CM, Petrović P, Bojović B. Tactile sensing with gesture-controlled collaborative robot. in 2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020 -. 2020;:364-368.
doi:10.1109/MetroInd4.0IoT48571.2020.9138183 .

Sorgini, Francesca, Farulla, Giuseppe Airo, Lukić, Nikola, Danilov, Ivan, Roveda, Loris, Milivojević, Miloš, Pulikottil, Terrin Babu, Carrozza, Maria Chiara, Prinetto, Paolo, Tolio, Tullio, Oddo, Calogero Maria, Petrović, Petar, Bojović, Božica, "Tactile sensing with gesture-controlled collaborative robot" in 2020 IEEE International Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2020 - (2020):364-368,
https://doi.org/10.1109/MetroInd4.0IoT48571.2020.9138183 . .

TY  - GEN
AU  - Petrović, Petar
AU  - Lukić, Nikola
AU  - Danilov, Ivan
AU  - Bojović, Božica
AU  - Milivojević, Miloš
AU  - Matijašević, Lazar
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7402
AB  - Развијено техничко решење се једноставно може комерцијализовати у смислу уградње модула у постојеће полуаутоматске машине, које су инсталиране у погонима широм света. Ово је пример неопходних конструктивних измена ради технолошког унапређења машина типа INTERFOLDER радног простора до 1500mm. Физички реализовани модул је највишег нивоа технолошке спремности ТР9, проверен у реалним индустријским условима прераде хигијенског папира у привредном друштву ЕNЕRТЕХ.
T2  - Tehničko rešenje M82
T1  - Хибридни cnc систем за плазма и пламено резање
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7402
ER  - 

@misc{
author = "Petrović, Petar and Lukić, Nikola and Danilov, Ivan and Bojović, Božica and Milivojević, Miloš and Matijašević, Lazar",
year = "2019",
abstract = "Развијено техничко решење се једноставно може комерцијализовати у смислу уградње модула у постојеће полуаутоматске машине, које су инсталиране у погонима широм света. Ово је пример неопходних конструктивних измена ради технолошког унапређења машина типа INTERFOLDER радног простора до 1500mm. Физички реализовани модул је највишег нивоа технолошке спремности ТР9, проверен у реалним индустријским условима прераде хигијенског папира у привредном друштву ЕNЕRТЕХ.",
journal = "Tehničko rešenje M82",
title = "Хибридни cnc систем за плазма и пламено резање",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7402"
}

Petrović, P., Lukić, N., Danilov, I., Bojović, B., Milivojević, M.,& Matijašević, L.. (2019). Хибридни cnc систем за плазма и пламено резање. in Tehničko rešenje M82.
https://hdl.handle.net/21.15107/rcub_machinery_7402

Petrović P, Lukić N, Danilov I, Bojović B, Milivojević M, Matijašević L. Хибридни cnc систем за плазма и пламено резање. in Tehničko rešenje M82. 2019;.
https://hdl.handle.net/21.15107/rcub_machinery_7402 .

Petrović, Petar, Lukić, Nikola, Danilov, Ivan, Bojović, Božica, Milivojević, Miloš, Matijašević, Lazar, "Хибридни cnc систем за плазма и пламено резање" in Tehničko rešenje M82 (2019),
https://hdl.handle.net/21.15107/rcub_machinery_7402 .

TY  - CONF
AU  - Bojović, Božica
AU  - Danilov, Ivan
AU  - Gvojić, Nemanja
AU  - Petrović, Petar
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7395
AB  - Programiranje industrijskih robota u malim i srednjim preduzećima najčešće se sprovodi obučavanjem, što je dugotrajna metoda, koja zahteva angažovanje robota van proizvodnih tokova. Stoga su fleksibilni, jeftini i jednostavni pristupi u programiranju svakako potrebni za proširenje robotike u malim i srednjim preduzećima. Pristup kognitivne infokomunikacije u interakciji između operatera i robota u projektovanju i nadzoru kompletnog procesa robotskog zavarivanja omogućava operateru uspešno programiranje korišćenjem računara. Istovremeno nivo kompetencija zaposlenih u malim i srednjim preduzećima ima klјučnu ulogu u uspešnom suočavanju sa aktuelnim izazovima u industrijskoj proizvodnji, kao što su kraći ciklusi proizvoda, veći broj varijanti proizvoda, ambicije u pogledu efikasnosti i digitalizacija.  Da bi se pobolјšale postojeće kompetencije zaposlenih, ali i studenata kao budućih inženjera, postoji nekoliko mogućnosti za učenje. U poređenju sa učenjem kroz npr. klasična predavanja, studentima na praktičnim kursevima učenja (work-based education) se uvećavaju mogućnosti delovanja potkreplјenog praktičnim znanjem. Navedeni metod edukacije je lako primenjiv i u pripremi obuka za zaposlene na radnom mestu. Upravo radi lakše interakcije lјudi i robota, koja se može primeniti ne samo za programiranje robota, već i za obuku neiskusnih operatera, u ovom radu je predstavlјen rezultat završnog master rada u vidu razvijenog korisničkog interfejsa za adaptivno upravlјanje robotskog elektrolučnog zavarivanja. Time se daje doprinos u osmišlјavanju inženjerske edukacije radi sticanja novih znanja i veština za potrebe Industrije 4.0, a praktično bazirane na eksperimentalnoj platformi za robotsko elektrolučno zavarivanje razvijene u okviru projekta TR 35007 u CMSysLab-u na Mašinskom fakultetu Univerziteta u Beogradu.
C3  - Proceedings 37th International Conference on Production Engineering of Serbia ICPE-S 2018
T1  - Interactive User Interface for Robotic Arc Welding -Application in Engineering Education
EP  - 49
SP  - 45
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7395
ER  - 

@conference{
author = "Bojović, Božica and Danilov, Ivan and Gvojić, Nemanja and Petrović, Petar",
year = "2018",
abstract = "Programiranje industrijskih robota u malim i srednjim preduzećima najčešće se sprovodi obučavanjem, što je dugotrajna metoda, koja zahteva angažovanje robota van proizvodnih tokova. Stoga su fleksibilni, jeftini i jednostavni pristupi u programiranju svakako potrebni za proširenje robotike u malim i srednjim preduzećima. Pristup kognitivne infokomunikacije u interakciji između operatera i robota u projektovanju i nadzoru kompletnog procesa robotskog zavarivanja omogućava operateru uspešno programiranje korišćenjem računara. Istovremeno nivo kompetencija zaposlenih u malim i srednjim preduzećima ima klјučnu ulogu u uspešnom suočavanju sa aktuelnim izazovima u industrijskoj proizvodnji, kao što su kraći ciklusi proizvoda, veći broj varijanti proizvoda, ambicije u pogledu efikasnosti i digitalizacija.  Da bi se pobolјšale postojeće kompetencije zaposlenih, ali i studenata kao budućih inženjera, postoji nekoliko mogućnosti za učenje. U poređenju sa učenjem kroz npr. klasična predavanja, studentima na praktičnim kursevima učenja (work-based education) se uvećavaju mogućnosti delovanja potkreplјenog praktičnim znanjem. Navedeni metod edukacije je lako primenjiv i u pripremi obuka za zaposlene na radnom mestu. Upravo radi lakše interakcije lјudi i robota, koja se može primeniti ne samo za programiranje robota, već i za obuku neiskusnih operatera, u ovom radu je predstavlјen rezultat završnog master rada u vidu razvijenog korisničkog interfejsa za adaptivno upravlјanje robotskog elektrolučnog zavarivanja. Time se daje doprinos u osmišlјavanju inženjerske edukacije radi sticanja novih znanja i veština za potrebe Industrije 4.0, a praktično bazirane na eksperimentalnoj platformi za robotsko elektrolučno zavarivanje razvijene u okviru projekta TR 35007 u CMSysLab-u na Mašinskom fakultetu Univerziteta u Beogradu.",
journal = "Proceedings 37th International Conference on Production Engineering of Serbia ICPE-S 2018",
title = "Interactive User Interface for Robotic Arc Welding -Application in Engineering Education",
pages = "49-45",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7395"
}

Bojović, B., Danilov, I., Gvojić, N.,& Petrović, P.. (2018). Interactive User Interface for Robotic Arc Welding -Application in Engineering Education. in Proceedings 37th International Conference on Production Engineering of Serbia ICPE-S 2018, 45-49.
https://hdl.handle.net/21.15107/rcub_machinery_7395

Bojović B, Danilov I, Gvojić N, Petrović P. Interactive User Interface for Robotic Arc Welding -Application in Engineering Education. in Proceedings 37th International Conference on Production Engineering of Serbia ICPE-S 2018. 2018;:45-49.
https://hdl.handle.net/21.15107/rcub_machinery_7395 .

Bojović, Božica, Danilov, Ivan, Gvojić, Nemanja, Petrović, Petar, "Interactive User Interface for Robotic Arc Welding -Application in Engineering Education" in Proceedings 37th International Conference on Production Engineering of Serbia ICPE-S 2018 (2018):45-49,
https://hdl.handle.net/21.15107/rcub_machinery_7395 .

TY  - CONF
AU  - Bojović, Božica
AU  - Danilov, Ivan
AU  - Gvojić, Nemanja
AU  - Petrović, Petar
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7417
AB  - Programiranje industrijskih robota u malim i srednjim preduzećima najčešće se sprovodi obučavanjem, što je dugotrajna metoda, koja zahteva angažovanje robota van proizvodnih tokova. Stoga su fleksibilni, jeftini i jednostavni pristupi u programiranju svakako potrebni za proširenje robotike u malim i srednjim preduzećima. Pristup kognitivne infokomunikacije u interakciji između operatera i robota u projektovanju i nadzoru kompletnog procesa robotskog zavarivanja omogućava operateru uspešno programiranje korišćenjem računara. Istovremeno nivo kompetencija zaposlenih u malim i srednjim preduzećima ima klјučnu ulogu u uspešnom suočavanju sa aktuelnim izazovima u industrijskoj proizvodnji, kao što su kraći ciklusi proizvoda, veći broj varijanti proizvoda, ambicije u pogledu efikasnosti i digitalizacija.  Da bi se pobolјšale postojeće kompetencije zaposlenih, ali i studenata kao budućih inženjera, postoji nekoliko mogućnosti za učenje. U poređenju sa učenjem kroz npr. klasična predavanja, studentima na praktičnim kursevima učenja (work-based education) se uvećavaju mogućnosti delovanja potkreplјenog praktičnim znanjem. Navedeni metod edukacije je lako primenjiv i u pripremi obuka za zaposlene na radnom mestu. Upravo radi lakše interakcije lјudi i robota, koja se može primeniti ne samo za programiranje robota, već i za obuku neiskusnih operatera, u ovom radu je predstavlјen rezultat završnog master rada u vidu razvijenog korisničkog interfejsa za adaptivno upravlјanje robotskog elektrolučnog zavarivanja. Time se daje doprinos u osmišlјavanju inženjerske edukacije radi sticanja novih znanja i veština za potrebe Industrije 4.0, a praktično bazirane na eksperimentalnoj platformi za robotsko elektrolučno zavarivanje razvijene u okviru projekta TR 35007 u CMSysLab-u na Mašinskom fakultetu Univerziteta u Beogradu.
C3  - ICPE-S 2018 37th International Conference on Production Engineering -Serbia
T1  - INTERAKTIVNI KORISNIČKI INTERFEJS ZA ELEKTROLUČNO ROBOTSKO ZAVARIVANJE - PRIMENA U EDUKACIJI INŽENЈERA
EP  - 49
SP  - 44
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7417
ER  - 

@conference{
author = "Bojović, Božica and Danilov, Ivan and Gvojić, Nemanja and Petrović, Petar",
year = "2018",
abstract = "Programiranje industrijskih robota u malim i srednjim preduzećima najčešće se sprovodi obučavanjem, što je dugotrajna metoda, koja zahteva angažovanje robota van proizvodnih tokova. Stoga su fleksibilni, jeftini i jednostavni pristupi u programiranju svakako potrebni za proširenje robotike u malim i srednjim preduzećima. Pristup kognitivne infokomunikacije u interakciji između operatera i robota u projektovanju i nadzoru kompletnog procesa robotskog zavarivanja omogućava operateru uspešno programiranje korišćenjem računara. Istovremeno nivo kompetencija zaposlenih u malim i srednjim preduzećima ima klјučnu ulogu u uspešnom suočavanju sa aktuelnim izazovima u industrijskoj proizvodnji, kao što su kraći ciklusi proizvoda, veći broj varijanti proizvoda, ambicije u pogledu efikasnosti i digitalizacija.  Da bi se pobolјšale postojeće kompetencije zaposlenih, ali i studenata kao budućih inženjera, postoji nekoliko mogućnosti za učenje. U poređenju sa učenjem kroz npr. klasična predavanja, studentima na praktičnim kursevima učenja (work-based education) se uvećavaju mogućnosti delovanja potkreplјenog praktičnim znanjem. Navedeni metod edukacije je lako primenjiv i u pripremi obuka za zaposlene na radnom mestu. Upravo radi lakše interakcije lјudi i robota, koja se može primeniti ne samo za programiranje robota, već i za obuku neiskusnih operatera, u ovom radu je predstavlјen rezultat završnog master rada u vidu razvijenog korisničkog interfejsa za adaptivno upravlјanje robotskog elektrolučnog zavarivanja. Time se daje doprinos u osmišlјavanju inženjerske edukacije radi sticanja novih znanja i veština za potrebe Industrije 4.0, a praktično bazirane na eksperimentalnoj platformi za robotsko elektrolučno zavarivanje razvijene u okviru projekta TR 35007 u CMSysLab-u na Mašinskom fakultetu Univerziteta u Beogradu.",
journal = "ICPE-S 2018 37th International Conference on Production Engineering -Serbia",
title = "INTERAKTIVNI KORISNIČKI INTERFEJS ZA ELEKTROLUČNO ROBOTSKO ZAVARIVANJE - PRIMENA U EDUKACIJI INŽENЈERA",
pages = "49-44",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7417"
}

Bojović, B., Danilov, I., Gvojić, N.,& Petrović, P.. (2018). INTERAKTIVNI KORISNIČKI INTERFEJS ZA ELEKTROLUČNO ROBOTSKO ZAVARIVANJE - PRIMENA U EDUKACIJI INŽENЈERA. in ICPE-S 2018 37th International Conference on Production Engineering -Serbia, 44-49.
https://hdl.handle.net/21.15107/rcub_machinery_7417

Bojović B, Danilov I, Gvojić N, Petrović P. INTERAKTIVNI KORISNIČKI INTERFEJS ZA ELEKTROLUČNO ROBOTSKO ZAVARIVANJE - PRIMENA U EDUKACIJI INŽENЈERA. in ICPE-S 2018 37th International Conference on Production Engineering -Serbia. 2018;:44-49.
https://hdl.handle.net/21.15107/rcub_machinery_7417 .

Bojović, Božica, Danilov, Ivan, Gvojić, Nemanja, Petrović, Petar, "INTERAKTIVNI KORISNIČKI INTERFEJS ZA ELEKTROLUČNO ROBOTSKO ZAVARIVANJE - PRIMENA U EDUKACIJI INŽENЈERA" in ICPE-S 2018 37th International Conference on Production Engineering -Serbia (2018):44-49,
https://hdl.handle.net/21.15107/rcub_machinery_7417 .

TY  - JOUR
AU  - Petrović, Petar
AU  - Danilov, Ivan
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2595
AB  - U okviru ovog rada koji se sastoji iz dva dela, prikazuje se novi pristup upravljanja popustljivošću vrha robota, odnosno elastomehaničkom interakcijom vrha robota i njegovog okruženja, primenom kinematske redundanse umesto aktuacione. U prvom delu ovaj pristup je prikazan kroz koncipiranje metode upravljanja krutošću promenom konfiguracije - Configuration-based Stiffness Control (CSC), za slučaj kinetosatičke konzistentnosti, primenom projekcije gradijenta optimizacione funkcije koja minimizira Euklidovu normu nedijagonalnih elemenata matrice krutosti robota izražene u unutrašnjim koordinatama. U drugom delu predložena metoda upravljanja popustljivošću je testirana simulacionim eksperimentima, koristeći kao simulacionu platformu dva posebna slučaja najjednostavnijih kinematski redundantnih robotskih ruku: Slučaj 1 - eksperimenti sa jednodimenzionim radnim prostorom (m = 1) i minimalno mogućom redundansom, r = (n - m) = 1, i Slučaj 2 - eksperimenti sa jednodimenzionim radnim prostorom (m = 1) i minimalno mogućom hiperredundansom, r = 2 i r > m. U oba slučaja singulariteti i ograničenja u opsezima pokretljivosti zglobova nisu razmatrani.
AB  - This two-part paper presents an approach to the control of robot endpoint compliance, i.e., elasto-mechanical interaction between a robot and its environment using kinematic redundancy instead of actuation redundancy. In Part I this approach is developed by proposing the Configuration-based Stiffness Control (CSC) method for kinetostatically consistent control of robot compliant behaviour, based on the gradient projection of the cost function which minimizes the norm of off-diagonal elements of the jointspace matrix. In Part II validity of the proposed compliance control method is tested by simulation experiments using as a simulation platform two specific cases of most simple kinematically redundant robot arms: Case 1 - experiments with onedimensional taskspace (m=1) and minimal possible redundancy, r = (n - m) = 1, and Case 2 - experiments with onedimensional taskspace (m=1) and minimal possible hyper-redundancy, r = 2 and r > m. In both cases the singularity and joint limits were not considered.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Upravljanje popustljivosti kinematski redundantne robotske ruke promenom konfiguracije - deo II - eksperimentalna provera
T1  - Configuration-based compliance control of kinematically redundant robot arm Part II: Experimental validation
EP  - 480
IS  - 4
SP  - 475
VL  - 45
DO  - 10.5937/fmet1704475P
ER  - 

@article{
author = "Petrović, Petar and Danilov, Ivan",
year = "2017",
abstract = "U okviru ovog rada koji se sastoji iz dva dela, prikazuje se novi pristup upravljanja popustljivošću vrha robota, odnosno elastomehaničkom interakcijom vrha robota i njegovog okruženja, primenom kinematske redundanse umesto aktuacione. U prvom delu ovaj pristup je prikazan kroz koncipiranje metode upravljanja krutošću promenom konfiguracije - Configuration-based Stiffness Control (CSC), za slučaj kinetosatičke konzistentnosti, primenom projekcije gradijenta optimizacione funkcije koja minimizira Euklidovu normu nedijagonalnih elemenata matrice krutosti robota izražene u unutrašnjim koordinatama. U drugom delu predložena metoda upravljanja popustljivošću je testirana simulacionim eksperimentima, koristeći kao simulacionu platformu dva posebna slučaja najjednostavnijih kinematski redundantnih robotskih ruku: Slučaj 1 - eksperimenti sa jednodimenzionim radnim prostorom (m = 1) i minimalno mogućom redundansom, r = (n - m) = 1, i Slučaj 2 - eksperimenti sa jednodimenzionim radnim prostorom (m = 1) i minimalno mogućom hiperredundansom, r = 2 i r > m. U oba slučaja singulariteti i ograničenja u opsezima pokretljivosti zglobova nisu razmatrani., This two-part paper presents an approach to the control of robot endpoint compliance, i.e., elasto-mechanical interaction between a robot and its environment using kinematic redundancy instead of actuation redundancy. In Part I this approach is developed by proposing the Configuration-based Stiffness Control (CSC) method for kinetostatically consistent control of robot compliant behaviour, based on the gradient projection of the cost function which minimizes the norm of off-diagonal elements of the jointspace matrix. In Part II validity of the proposed compliance control method is tested by simulation experiments using as a simulation platform two specific cases of most simple kinematically redundant robot arms: Case 1 - experiments with onedimensional taskspace (m=1) and minimal possible redundancy, r = (n - m) = 1, and Case 2 - experiments with onedimensional taskspace (m=1) and minimal possible hyper-redundancy, r = 2 and r > m. In both cases the singularity and joint limits were not considered.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Upravljanje popustljivosti kinematski redundantne robotske ruke promenom konfiguracije - deo II - eksperimentalna provera, Configuration-based compliance control of kinematically redundant robot arm Part II: Experimental validation",
pages = "480-475",
number = "4",
volume = "45",
doi = "10.5937/fmet1704475P"
}

Petrović, P.,& Danilov, I.. (2017). Upravljanje popustljivosti kinematski redundantne robotske ruke promenom konfiguracije - deo II - eksperimentalna provera. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 45(4), 475-480.
https://doi.org/10.5937/fmet1704475P

Petrović P, Danilov I. Upravljanje popustljivosti kinematski redundantne robotske ruke promenom konfiguracije - deo II - eksperimentalna provera. in FME Transactions. 2017;45(4):475-480.
doi:10.5937/fmet1704475P .

Petrović, Petar, Danilov, Ivan, "Upravljanje popustljivosti kinematski redundantne robotske ruke promenom konfiguracije - deo II - eksperimentalna provera" in FME Transactions, 45, no. 4 (2017):475-480,
https://doi.org/10.5937/fmet1704475P . .

TY  - JOUR
AU  - Petrović, Petar
AU  - Lukić, Nikola
AU  - Danilov, Ivan
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2064
AB  - This paper presents theoretical and experimental aspects of Jacobian nullspace use in kinematically redundant robots for achieving kinetostatically consistent control of their compliant behavior. When the stiffness of the robot endpoint is dominantly influenced by the compliance of the robot joints, generalized stiffness matrix can be mapped into joint space using appropriate congruent transformation. Actuation stiffness matrix achieved by this transformation is generally nondiagonal. Off-diagonal elements of the actuation matrix can be generated by redundant actuation only (polyarticular actuators), but such kind of actuation is very difficult to realize practically in technical systems. The approach of solving this problem which is proposed in this paper is based on the use of kinematic redundancy and nullspace of the Jacobian matrix. Evaluation of the developed analytical model was done numerically by a minimal redundant robot with one redundant d.o.f. and experimentally by a 7 d.o.f. Yaskawa SIA 10F robot arm.
PB  - Univerzitet u Kragujevcu - Fakultet tehničkih nauka, Čačak
T2  - Serbian Journal of Electrical Engineering
T1  - Compliant behaviour of redundant robot arm: Experiments with null-space
EP  - 98
IS  - 1
SP  - 81
VL  - 12
DO  - 10.2298/SJEE1501081P
ER  - 

@article{
author = "Petrović, Petar and Lukić, Nikola and Danilov, Ivan",
year = "2015",
abstract = "This paper presents theoretical and experimental aspects of Jacobian nullspace use in kinematically redundant robots for achieving kinetostatically consistent control of their compliant behavior. When the stiffness of the robot endpoint is dominantly influenced by the compliance of the robot joints, generalized stiffness matrix can be mapped into joint space using appropriate congruent transformation. Actuation stiffness matrix achieved by this transformation is generally nondiagonal. Off-diagonal elements of the actuation matrix can be generated by redundant actuation only (polyarticular actuators), but such kind of actuation is very difficult to realize practically in technical systems. The approach of solving this problem which is proposed in this paper is based on the use of kinematic redundancy and nullspace of the Jacobian matrix. Evaluation of the developed analytical model was done numerically by a minimal redundant robot with one redundant d.o.f. and experimentally by a 7 d.o.f. Yaskawa SIA 10F robot arm.",
publisher = "Univerzitet u Kragujevcu - Fakultet tehničkih nauka, Čačak",
journal = "Serbian Journal of Electrical Engineering",
title = "Compliant behaviour of redundant robot arm: Experiments with null-space",
pages = "98-81",
number = "1",
volume = "12",
doi = "10.2298/SJEE1501081P"
}

Petrović, P., Lukić, N.,& Danilov, I.. (2015). Compliant behaviour of redundant robot arm: Experiments with null-space. in Serbian Journal of Electrical Engineering
Univerzitet u Kragujevcu - Fakultet tehničkih nauka, Čačak., 12(1), 81-98.
https://doi.org/10.2298/SJEE1501081P

Petrović P, Lukić N, Danilov I. Compliant behaviour of redundant robot arm: Experiments with null-space. in Serbian Journal of Electrical Engineering. 2015;12(1):81-98.
doi:10.2298/SJEE1501081P .

Petrović, Petar, Lukić, Nikola, Danilov, Ivan, "Compliant behaviour of redundant robot arm: Experiments with null-space" in Serbian Journal of Electrical Engineering, 12, no. 1 (2015):81-98,
https://doi.org/10.2298/SJEE1501081P . .

TY  - CONF
AU  - Petrović, Petar
AU  - Lukić, N.
AU  - Danilov, Ivan
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1902
AB  - This chapter presents the conceptual framework of humanoid robot application in the field of non-invasive medical diagnostics based on interactive ultrasound scanning and spatial visualisation of sonograms. Humanoid robots appear in this context as intelligent assistants which enable acquisition of 3D sonograms using the conventional ultrasound probe for 2D manual scanning through collaborative work with humans-slave mode, or through machine precision execution of the kinematic motion primitives-autonomous mode. In this way a qualitatively new technology can be created, opening the door for the development and application of new ultrasound examination techniques, which a sonographer cannot apply through conventional approaches based on free-hand 2D scanning. From the engineering aspect, the key technological step forward is the development of an anthropomorphic robotic humanoid which will enable safe and collaborative work (Co-X robotics) in a complex physical and cognitive sonog-rapher-robot-patient interaction.
PB  - Springer-Verlag Berlin, Berlin
C3  - New Trends in Medical and Service Robots: Challenges and Solutions
T1  - Robot-Assisted 3D Medical Sonography
EP  - 61
SP  - 45
VL  - 20
DO  - 10.1007/978-3-319-05431-5_4
ER  - 

@conference{
author = "Petrović, Petar and Lukić, N. and Danilov, Ivan",
year = "2014",
abstract = "This chapter presents the conceptual framework of humanoid robot application in the field of non-invasive medical diagnostics based on interactive ultrasound scanning and spatial visualisation of sonograms. Humanoid robots appear in this context as intelligent assistants which enable acquisition of 3D sonograms using the conventional ultrasound probe for 2D manual scanning through collaborative work with humans-slave mode, or through machine precision execution of the kinematic motion primitives-autonomous mode. In this way a qualitatively new technology can be created, opening the door for the development and application of new ultrasound examination techniques, which a sonographer cannot apply through conventional approaches based on free-hand 2D scanning. From the engineering aspect, the key technological step forward is the development of an anthropomorphic robotic humanoid which will enable safe and collaborative work (Co-X robotics) in a complex physical and cognitive sonog-rapher-robot-patient interaction.",
publisher = "Springer-Verlag Berlin, Berlin",
journal = "New Trends in Medical and Service Robots: Challenges and Solutions",
title = "Robot-Assisted 3D Medical Sonography",
pages = "61-45",
volume = "20",
doi = "10.1007/978-3-319-05431-5_4"
}

Petrović, P., Lukić, N.,& Danilov, I.. (2014). Robot-Assisted 3D Medical Sonography. in New Trends in Medical and Service Robots: Challenges and Solutions
Springer-Verlag Berlin, Berlin., 20, 45-61.
https://doi.org/10.1007/978-3-319-05431-5_4

Petrović P, Lukić N, Danilov I. Robot-Assisted 3D Medical Sonography. in New Trends in Medical and Service Robots: Challenges and Solutions. 2014;20:45-61.
doi:10.1007/978-3-319-05431-5_4 .

Petrović, Petar, Lukić, N., Danilov, Ivan, "Robot-Assisted 3D Medical Sonography" in New Trends in Medical and Service Robots: Challenges and Solutions, 20 (2014):45-61,
https://doi.org/10.1007/978-3-319-05431-5_4 . .

TY  - GEN
AU  - Petrović, Petar B.
AU  - Lukić, Nikola
AU  - Danilov, Ivan
AU  - Pjević, Miloš
PY  - 2013
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5925
PB  - University of Belgrade, faculty of Mechanical Engineering
T2  - Универзитет у Бегораду, Машински факултет
T1  - Cyberfabricator inteligentni interaktivni interfejs za sisteme adaptivnog robotskog zavarivanja
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5925
ER  - 

@misc{
author = "Petrović, Petar B. and Lukić, Nikola and Danilov, Ivan and Pjević, Miloš",
year = "2013",
publisher = "University of Belgrade, faculty of Mechanical Engineering",
journal = "Универзитет у Бегораду, Машински факултет",
title = "Cyberfabricator inteligentni interaktivni interfejs za sisteme adaptivnog robotskog zavarivanja",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5925"
}

Petrović, P. B., Lukić, N., Danilov, I.,& Pjević, M.. (2013). Cyberfabricator inteligentni interaktivni interfejs za sisteme adaptivnog robotskog zavarivanja. in Универзитет у Бегораду, Машински факултет
University of Belgrade, faculty of Mechanical Engineering..
https://hdl.handle.net/21.15107/rcub_machinery_5925

Petrović PB, Lukić N, Danilov I, Pjević M. Cyberfabricator inteligentni interaktivni interfejs za sisteme adaptivnog robotskog zavarivanja. in Универзитет у Бегораду, Машински факултет. 2013;.
https://hdl.handle.net/21.15107/rcub_machinery_5925 .

Petrović, Petar B., Lukić, Nikola, Danilov, Ivan, Pjević, Miloš, "Cyberfabricator inteligentni interaktivni interfejs za sisteme adaptivnog robotskog zavarivanja" in Универзитет у Бегораду, Машински факултет (2013),
https://hdl.handle.net/21.15107/rcub_machinery_5925 .

TY  - CONF
AU  - Petrović, Petar
AU  - Hodolič, Janko
AU  - Vićentić, Aleksandar
AU  - Pilipović, Miroslav
AU  - Jakovljević, Živana
AU  - Danilov, Ivan
AU  - Lukić, Nikola
AU  - Baltić, Petar
AU  - Vukelić, Đorđe
AU  - Budak, Igor
AU  - Hadžistević, Miodrag
AU  - Miković, Vladimir
AU  - Stojadinović, Slavenko
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6195
AB  - U okviru ovog rada navode se rezultati sprovedenih istraživanja na četvorogodišnjem projektu TR35007 koji zajednički realizuju Mašinski fakultet Univerziteta u Beogradu, Fakultet tehničkih nauka Univerziteta u Novom Sadu i kompanija Ikarbus iz Beograda. Ovaj projekat finansijskih podržava Ministarstvo prosvete i nauke u okviru četovorogodišnjeg ciklusa istraživačkih projekata za tehnološki razvoj, od 2011. do 2014. godine. Prvo se navode istraživački okvir projekta, osnovni ciljevi koji postavljeni pred istraživački tim i organizacija projekta koja je izvedena po modelu radnih paketa. U drugom delu rada navode se osnovni rezultati ostvaranih u prvoj istraživačkoj godini, sa odgovarajućim opisom i osnovnim detaljima tehničke i organizacione prirode.
AB  - This paper outlines the results of research conducted on the four-year project TR35007 jointly implemented by Mechanical Engineering Faculty University of Belgrade, Faculty of Technical Sciences in Novi Sad and Belgrade Ikarbus company. This project is financially supported by the Ministry of Education and Science within four-year cycle of research projects for technological development, from 2011 to 2014. The research framework of this project, the main objectives imposed to the research team and project organization structured by work packages are given first. In the second part, this paper outlines the main results achieved in the first research year, with appropriate description and basic details of the technical and organizational nature.
PB  - Mašinski fakultet, Beograd
C3  - Зборник радова, 38. ЈУПИТЕР Конференција
T1  - Inteligentni robotski sistemi za ekstremno diverzifikovanu proizvodnju – TR35007
T1  - Intelligent robotic systems for extremely diversified production – TR35007
EP  - UR.66
SP  - UR.49
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6195
ER  - 

@conference{
author = "Petrović, Petar and Hodolič, Janko and Vićentić, Aleksandar and Pilipović, Miroslav and Jakovljević, Živana and Danilov, Ivan and Lukić, Nikola and Baltić, Petar and Vukelić, Đorđe and Budak, Igor and Hadžistević, Miodrag and Miković, Vladimir and Stojadinović, Slavenko",
year = "2012",
abstract = "U okviru ovog rada navode se rezultati sprovedenih istraživanja na četvorogodišnjem projektu TR35007 koji zajednički realizuju Mašinski fakultet Univerziteta u Beogradu, Fakultet tehničkih nauka Univerziteta u Novom Sadu i kompanija Ikarbus iz Beograda. Ovaj projekat finansijskih podržava Ministarstvo prosvete i nauke u okviru četovorogodišnjeg ciklusa istraživačkih projekata za tehnološki razvoj, od 2011. do 2014. godine. Prvo se navode istraživački okvir projekta, osnovni ciljevi koji postavljeni pred istraživački tim i organizacija projekta koja je izvedena po modelu radnih paketa. U drugom delu rada navode se osnovni rezultati ostvaranih u prvoj istraživačkoj godini, sa odgovarajućim opisom i osnovnim detaljima tehničke i organizacione prirode., This paper outlines the results of research conducted on the four-year project TR35007 jointly implemented by Mechanical Engineering Faculty University of Belgrade, Faculty of Technical Sciences in Novi Sad and Belgrade Ikarbus company. This project is financially supported by the Ministry of Education and Science within four-year cycle of research projects for technological development, from 2011 to 2014. The research framework of this project, the main objectives imposed to the research team and project organization structured by work packages are given first. In the second part, this paper outlines the main results achieved in the first research year, with appropriate description and basic details of the technical and organizational nature.",
publisher = "Mašinski fakultet, Beograd",
journal = "Зборник радова, 38. ЈУПИТЕР Конференција",
title = "Inteligentni robotski sistemi za ekstremno diverzifikovanu proizvodnju – TR35007, Intelligent robotic systems for extremely diversified production – TR35007",
pages = "UR.66-UR.49",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6195"
}

Petrović, P., Hodolič, J., Vićentić, A., Pilipović, M., Jakovljević, Ž., Danilov, I., Lukić, N., Baltić, P., Vukelić, Đ., Budak, I., Hadžistević, M., Miković, V.,& Stojadinović, S.. (2012). Inteligentni robotski sistemi za ekstremno diverzifikovanu proizvodnju – TR35007. in Зборник радова, 38. ЈУПИТЕР Конференција
Mašinski fakultet, Beograd., UR.49-UR.66.
https://hdl.handle.net/21.15107/rcub_machinery_6195

Petrović P, Hodolič J, Vićentić A, Pilipović M, Jakovljević Ž, Danilov I, Lukić N, Baltić P, Vukelić Đ, Budak I, Hadžistević M, Miković V, Stojadinović S. Inteligentni robotski sistemi za ekstremno diverzifikovanu proizvodnju – TR35007. in Зборник радова, 38. ЈУПИТЕР Конференција. 2012;:UR.49-UR.66.
https://hdl.handle.net/21.15107/rcub_machinery_6195 .

Petrović, Petar, Hodolič, Janko, Vićentić, Aleksandar, Pilipović, Miroslav, Jakovljević, Živana, Danilov, Ivan, Lukić, Nikola, Baltić, Petar, Vukelić, Đorđe, Budak, Igor, Hadžistević, Miodrag, Miković, Vladimir, Stojadinović, Slavenko, "Inteligentni robotski sistemi za ekstremno diverzifikovanu proizvodnju – TR35007" in Зборник радова, 38. ЈУПИТЕР Конференција (2012):UR.49-UR.66,
https://hdl.handle.net/21.15107/rcub_machinery_6195 .

TY  - CONF
AU  - Petrović, Petar B.
AU  - Hodolič, Janko
AU  - Vićentić, Aleksandar
AU  - Pilipović, Miroslav
AU  - Jakovljević, Živana
AU  - Danilov, Ivan
AU  - Lukić, Nikola
AU  - Baltić, Petar
AU  - Vukelić, Đorđe
AU  - Budak, Igor
AU  - Hadžistević, Miodrag
AU  - Miković, Vladimir
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5619
AB  - U okviru ovog rada navode se rezultati sprovedenih istraživanja na četvorogodišnjem projektu TR35007 koji zajednički realizuju Mašinski fakultet Univerziteta u Beogradu, Fakultet tehničkih nauka Univerziteta u Novom Sadu i kompanija Ikarbus iz Beograda. Ovaj projekat finansijskih podržava Ministarstvo prosvete i nauke u okviru četovorogodišnjeg ciklusa istraživačkih projekata za tehnološki razvoj, od 2011. do 2014. godine. Prvo se navode istraživački okvir projekta, osnovni ciljevi koji postavljeni pred istraživački tim i organizacija projekta koja je izvedena po modelu radnih paketa. U drugom delu rada navode se osnovni rezultati ostvaranih u prvoj istraživačkoj godini, sa odgovarajućim opisom i osnovnim detaljima tehničke i organizacione prirode.
C3  - Zbornik radova 38. JUPITER konferencije
T1  - Inteligentni robotski sistemi za ekstremno diverzifikovanu proizvodnju
EP  - UR.66
SP  - UR.49
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5619
ER  - 

@conference{
author = "Petrović, Petar B. and Hodolič, Janko and Vićentić, Aleksandar and Pilipović, Miroslav and Jakovljević, Živana and Danilov, Ivan and Lukić, Nikola and Baltić, Petar and Vukelić, Đorđe and Budak, Igor and Hadžistević, Miodrag and Miković, Vladimir",
year = "2012",
abstract = "U okviru ovog rada navode se rezultati sprovedenih istraživanja na četvorogodišnjem projektu TR35007 koji zajednički realizuju Mašinski fakultet Univerziteta u Beogradu, Fakultet tehničkih nauka Univerziteta u Novom Sadu i kompanija Ikarbus iz Beograda. Ovaj projekat finansijskih podržava Ministarstvo prosvete i nauke u okviru četovorogodišnjeg ciklusa istraživačkih projekata za tehnološki razvoj, od 2011. do 2014. godine. Prvo se navode istraživački okvir projekta, osnovni ciljevi koji postavljeni pred istraživački tim i organizacija projekta koja je izvedena po modelu radnih paketa. U drugom delu rada navode se osnovni rezultati ostvaranih u prvoj istraživačkoj godini, sa odgovarajućim opisom i osnovnim detaljima tehničke i organizacione prirode.",
journal = "Zbornik radova 38. JUPITER konferencije",
title = "Inteligentni robotski sistemi za ekstremno diverzifikovanu proizvodnju",
pages = "UR.66-UR.49",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5619"
}

Petrović, P. B., Hodolič, J., Vićentić, A., Pilipović, M., Jakovljević, Ž., Danilov, I., Lukić, N., Baltić, P., Vukelić, Đ., Budak, I., Hadžistević, M.,& Miković, V.. (2012). Inteligentni robotski sistemi za ekstremno diverzifikovanu proizvodnju. in Zbornik radova 38. JUPITER konferencije, UR.49-UR.66.
https://hdl.handle.net/21.15107/rcub_machinery_5619

Petrović PB, Hodolič J, Vićentić A, Pilipović M, Jakovljević Ž, Danilov I, Lukić N, Baltić P, Vukelić Đ, Budak I, Hadžistević M, Miković V. Inteligentni robotski sistemi za ekstremno diverzifikovanu proizvodnju. in Zbornik radova 38. JUPITER konferencije. 2012;:UR.49-UR.66.
https://hdl.handle.net/21.15107/rcub_machinery_5619 .

Petrović, Petar B., Hodolič, Janko, Vićentić, Aleksandar, Pilipović, Miroslav, Jakovljević, Živana, Danilov, Ivan, Lukić, Nikola, Baltić, Petar, Vukelić, Đorđe, Budak, Igor, Hadžistević, Miodrag, Miković, Vladimir, "Inteligentni robotski sistemi za ekstremno diverzifikovanu proizvodnju" in Zbornik radova 38. JUPITER konferencije (2012):UR.49-UR.66,
https://hdl.handle.net/21.15107/rcub_machinery_5619 .

TY  - CONF
AU  - Petrović, Milica
AU  - Danilov, Ivan
AU  - Lukić, Nikola
AU  - Glavonjić, Miloš
AU  - Kokotović, Branko
PY  - 2011
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4919
AB  - У раду је описана идентификација параметара модела сила при ортогоналном резању рендисањем,
уз примену двокомпонентног динамометра са мерним тракама за мерење сила. За мерење попречне
и уздужне компоненте силе резања, мерне траке су постављене на осам места на полупрстену тела
сензора. Сигнали силе резања су снимљени коришћењем модула за аквизицију и обрађивани помоћу
MATLAB софтверског пакета. Резултати добијени при различитим параметрима резања (променљива дубина резања и променљива ширина резања) показују да се динамометар може користити за поуздано мерење сила при обради резањем, док експериментална верификација показује да се идентификовани модел може користити за предикцију сила при различитим обрадама резањем, уз задржавање исте геометрије алата и истог материјала обратка.
AB  - The paper describes the identification of model parameters of cutting forces during orthogonal cutting, using a two-component dynamometer with strain gauges to measure force. For measuring radial and extensive components of cutting force, strain gauges were installed at eight positions on the body of the ring sensor. Cutting force signals are recorded using a data acquisition module and processed by MATLAB software package. The results obtained under different cutting parameters (variable cutting depth and variable cutting width) show that the dynamometer can be used for reliable measurements of the cutting forces, and experimental verification shows that the identified model can be used to predict the forces under different types of machining, maintaining the same tool geometry and the same workpiece material.
PB  - Универзитет у Београду - Машински факултет, Катедра за производно машинство, Београд, Србија
C3  - 37. ЈУПИТЕР Конференција, 33. симпозијум „НУ-РОБОТИ-ФТС“, Зборник радова
T1  - Механистичка идентификација модела силе при ортогоналном резању
EP  - 3.102
SP  - 3.93
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4919
ER  - 

@conference{
author = "Petrović, Milica and Danilov, Ivan and Lukić, Nikola and Glavonjić, Miloš and Kokotović, Branko",
year = "2011",
abstract = "У раду је описана идентификација параметара модела сила при ортогоналном резању рендисањем,
уз примену двокомпонентног динамометра са мерним тракама за мерење сила. За мерење попречне
и уздужне компоненте силе резања, мерне траке су постављене на осам места на полупрстену тела
сензора. Сигнали силе резања су снимљени коришћењем модула за аквизицију и обрађивани помоћу
MATLAB софтверског пакета. Резултати добијени при различитим параметрима резања (променљива дубина резања и променљива ширина резања) показују да се динамометар може користити за поуздано мерење сила при обради резањем, док експериментална верификација показује да се идентификовани модел може користити за предикцију сила при различитим обрадама резањем, уз задржавање исте геометрије алата и истог материјала обратка., The paper describes the identification of model parameters of cutting forces during orthogonal cutting, using a two-component dynamometer with strain gauges to measure force. For measuring radial and extensive components of cutting force, strain gauges were installed at eight positions on the body of the ring sensor. Cutting force signals are recorded using a data acquisition module and processed by MATLAB software package. The results obtained under different cutting parameters (variable cutting depth and variable cutting width) show that the dynamometer can be used for reliable measurements of the cutting forces, and experimental verification shows that the identified model can be used to predict the forces under different types of machining, maintaining the same tool geometry and the same workpiece material.",
publisher = "Универзитет у Београду - Машински факултет, Катедра за производно машинство, Београд, Србија",
journal = "37. ЈУПИТЕР Конференција, 33. симпозијум „НУ-РОБОТИ-ФТС“, Зборник радова",
title = "Механистичка идентификација модела силе при ортогоналном резању",
pages = "3.102-3.93",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4919"
}

Petrović, M., Danilov, I., Lukić, N., Glavonjić, M.,& Kokotović, B.. (2011). Механистичка идентификација модела силе при ортогоналном резању. in 37. ЈУПИТЕР Конференција, 33. симпозијум „НУ-РОБОТИ-ФТС“, Зборник радова
Универзитет у Београду - Машински факултет, Катедра за производно машинство, Београд, Србија., 3.93-3.102.
https://hdl.handle.net/21.15107/rcub_machinery_4919

Petrović M, Danilov I, Lukić N, Glavonjić M, Kokotović B. Механистичка идентификација модела силе при ортогоналном резању. in 37. ЈУПИТЕР Конференција, 33. симпозијум „НУ-РОБОТИ-ФТС“, Зборник радова. 2011;:3.93-3.102.
https://hdl.handle.net/21.15107/rcub_machinery_4919 .

Petrović, Milica, Danilov, Ivan, Lukić, Nikola, Glavonjić, Miloš, Kokotović, Branko, "Механистичка идентификација модела силе при ортогоналном резању" in 37. ЈУПИТЕР Конференција, 33. симпозијум „НУ-РОБОТИ-ФТС“, Зборник радова (2011):3.93-3.102,
https://hdl.handle.net/21.15107/rcub_machinery_4919 .