TY  - JOUR
AU  - Živanović, Saša
AU  - Tabaković, Slobodan
AU  - Željković, Milan
AU  - Dimić, Zoran
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3513
AB  - Machine tools with a parallel-serial (hybrid) kinematics structures represent a compromise solution that combines the advantages of traditional serial and parallel kinematic in the building of machine tools. By selecting a planar parallel mechanism with optimally designed components, the supporting structure of the machine tool is obtained with improved kinematic and dynamic characteristics in the desired direction with a satisfactory working space. Such solutions are suitable for modern, multifunctional machine tools. The paper describes the original parallel-serial 3-axis O-X mechanism developed for the purpose of building of multifunctional machine tools. The basic feature of the O-X mechanism is a dual kinematic structure that allows the formation of two different workspaces with different characteristics which can be adapted to different applications. The paper presents the first prototype of a machine, developed for the purpose of testing of characteristics with an open control system based on the LinuxCNC.
PB  - Springer Heidelberg, Heidelberg
T2  - Journal of The Brazilian Society of Mechanical Sciences and Engineering
T1  - Modelling and analysis of machine tool with parallel-serial kinematics based on O-X glide mechanism
IS  - 10
VL  - 43
DO  - 10.1007/s40430-021-03171-6
ER  - 

@article{
author = "Živanović, Saša and Tabaković, Slobodan and Željković, Milan and Dimić, Zoran",
year = "2021",
abstract = "Machine tools with a parallel-serial (hybrid) kinematics structures represent a compromise solution that combines the advantages of traditional serial and parallel kinematic in the building of machine tools. By selecting a planar parallel mechanism with optimally designed components, the supporting structure of the machine tool is obtained with improved kinematic and dynamic characteristics in the desired direction with a satisfactory working space. Such solutions are suitable for modern, multifunctional machine tools. The paper describes the original parallel-serial 3-axis O-X mechanism developed for the purpose of building of multifunctional machine tools. The basic feature of the O-X mechanism is a dual kinematic structure that allows the formation of two different workspaces with different characteristics which can be adapted to different applications. The paper presents the first prototype of a machine, developed for the purpose of testing of characteristics with an open control system based on the LinuxCNC.",
publisher = "Springer Heidelberg, Heidelberg",
journal = "Journal of The Brazilian Society of Mechanical Sciences and Engineering",
title = "Modelling and analysis of machine tool with parallel-serial kinematics based on O-X glide mechanism",
number = "10",
volume = "43",
doi = "10.1007/s40430-021-03171-6"
}

Živanović, S., Tabaković, S., Željković, M.,& Dimić, Z.. (2021). Modelling and analysis of machine tool with parallel-serial kinematics based on O-X glide mechanism. in Journal of The Brazilian Society of Mechanical Sciences and Engineering
Springer Heidelberg, Heidelberg., 43(10).
https://doi.org/10.1007/s40430-021-03171-6

Živanović S, Tabaković S, Željković M, Dimić Z. Modelling and analysis of machine tool with parallel-serial kinematics based on O-X glide mechanism. in Journal of The Brazilian Society of Mechanical Sciences and Engineering. 2021;43(10).
doi:10.1007/s40430-021-03171-6 .

Živanović, Saša, Tabaković, Slobodan, Željković, Milan, Dimić, Zoran, "Modelling and analysis of machine tool with parallel-serial kinematics based on O-X glide mechanism" in Journal of The Brazilian Society of Mechanical Sciences and Engineering, 43, no. 10 (2021),
https://doi.org/10.1007/s40430-021-03171-6 . .

TY  - JOUR
AU  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Kokotović, Branko
AU  - Dimić, Zoran
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3125
AB  - The paper describes the configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine (R2PKM). A generalized model which is used for solving inverse and direct kinematic problem is presented. Generalized equations that present the solutions of kinematic problems are derived and they are valid for any configuration of R2PKM. Characteristic configurations of the mechanism are given as an example of the concept realization. For selected configurations, workspaces are defined and possible singular positions of the mechanism are analyzed. Optimization of the mechanism legs length was performed using the condition number. Determination of optimal legs length has been shown for several different configurations of the parallel mechanism. Control and programming system is configured and experimental prototype of R2PKM is realized. Verification of the configured machine, configured control and programming system was performed on the virtual machine and also on the prototype of the machine by drawing several different contours.
PB  - Korean Soc Mechanical Engineers, Seoul
T2  - Journal of Mechanical Science and Technology
T1  - Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine
EP  - 3421
IS  - 7
SP  - 3407
VL  - 33
DO  - 10.1007/s12206-019-0636-z
ER  - 

@article{
author = "Vasilić, Goran and Živanović, Saša and Kokotović, Branko and Dimić, Zoran",
year = "2019",
abstract = "The paper describes the configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine (R2PKM). A generalized model which is used for solving inverse and direct kinematic problem is presented. Generalized equations that present the solutions of kinematic problems are derived and they are valid for any configuration of R2PKM. Characteristic configurations of the mechanism are given as an example of the concept realization. For selected configurations, workspaces are defined and possible singular positions of the mechanism are analyzed. Optimization of the mechanism legs length was performed using the condition number. Determination of optimal legs length has been shown for several different configurations of the parallel mechanism. Control and programming system is configured and experimental prototype of R2PKM is realized. Verification of the configured machine, configured control and programming system was performed on the virtual machine and also on the prototype of the machine by drawing several different contours.",
publisher = "Korean Soc Mechanical Engineers, Seoul",
journal = "Journal of Mechanical Science and Technology",
title = "Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine",
pages = "3421-3407",
number = "7",
volume = "33",
doi = "10.1007/s12206-019-0636-z"
}

Vasilić, G., Živanović, S., Kokotović, B.,& Dimić, Z.. (2019). Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine. in Journal of Mechanical Science and Technology
Korean Soc Mechanical Engineers, Seoul., 33(7), 3407-3421.
https://doi.org/10.1007/s12206-019-0636-z

Vasilić G, Živanović S, Kokotović B, Dimić Z. Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine. in Journal of Mechanical Science and Technology. 2019;33(7):3407-3421.
doi:10.1007/s12206-019-0636-z .

Vasilić, Goran, Živanović, Saša, Kokotović, Branko, Dimić, Zoran, "Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine" in Journal of Mechanical Science and Technology, 33, no. 7 (2019):3407-3421,
https://doi.org/10.1007/s12206-019-0636-z . .

TY  - JOUR
AU  - Živanović, Saša
AU  - Tabaković, Slobodan
AU  - Randjelović, Saša
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3081
AB  - The aim of this paper is to spread the use of Rapid Prototyping technology (RP)-Additive Manufacturing (AM), into design, restauration and making Art sculptural shapes according to the sample. Rapid prototyping is being used since its origin in designers' fields for a product design, and here it is presented in art design according to the sample, and it has been proved that it is a crucial tool in any design process. In this paper presents a procedure for the rapid prototyping of two models of monuments, the preparation of the model in the STL format and the making of scaled real models of the monuments.
T2  - Advanced Technologies and Materials
T1  - Rapid prototyping of art sculptural shapes according to the sample
EP  - 32
IS  - 1
SP  - 27
VL  - 44
DO  - 10.24867/ATM-2019-1-005
ER  - 

@article{
author = "Živanović, Saša and Tabaković, Slobodan and Randjelović, Saša",
year = "2019",
abstract = "The aim of this paper is to spread the use of Rapid Prototyping technology (RP)-Additive Manufacturing (AM), into design, restauration and making Art sculptural shapes according to the sample. Rapid prototyping is being used since its origin in designers' fields for a product design, and here it is presented in art design according to the sample, and it has been proved that it is a crucial tool in any design process. In this paper presents a procedure for the rapid prototyping of two models of monuments, the preparation of the model in the STL format and the making of scaled real models of the monuments.",
journal = "Advanced Technologies and Materials",
title = "Rapid prototyping of art sculptural shapes according to the sample",
pages = "32-27",
number = "1",
volume = "44",
doi = "10.24867/ATM-2019-1-005"
}

Živanović, S., Tabaković, S.,& Randjelović, S.. (2019). Rapid prototyping of art sculptural shapes according to the sample. in Advanced Technologies and Materials, 44(1), 27-32.
https://doi.org/10.24867/ATM-2019-1-005

Živanović S, Tabaković S, Randjelović S. Rapid prototyping of art sculptural shapes according to the sample. in Advanced Technologies and Materials. 2019;44(1):27-32.
doi:10.24867/ATM-2019-1-005 .

Živanović, Saša, Tabaković, Slobodan, Randjelović, Saša, "Rapid prototyping of art sculptural shapes according to the sample" in Advanced Technologies and Materials, 44, no. 1 (2019):27-32,
https://doi.org/10.24867/ATM-2019-1-005 . .

TY  - JOUR
AU  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Milutinović, Dragan
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2906
AB  - This paper presents an approach for applying new machining standard ISO 10303-238 in machining operations by using industrial robots. The methodology developed according to this standard is proposed for executing programming, simulation and machining by industrial robots. A detailed description is given of a developed RoboSTEP-NC module which, being part of established methodology, translates the program according to ISO 10303-238 for 3-axis machining into a robot programming language. Programming verification has been realized, first, by simulation on virtual robots configured in STEP-NC Machine environment, and thereafter also by machining on a real available robot after translating machining program by applying the developed RoboSTEP-NC module.
PB  - Pergamon-Elsevier Science Ltd, Oxford
T2  - Robotics and Computer-Integrated Manufacturing
T1  - An approach for applying STEP-NC in robot machining
EP  - 373
SP  - 361
VL  - 49
DO  - 10.1016/j.rcim.2017.08.009
ER  - 

@article{
author = "Živanović, Saša and Slavković, Nikola and Milutinović, Dragan",
year = "2018",
abstract = "This paper presents an approach for applying new machining standard ISO 10303-238 in machining operations by using industrial robots. The methodology developed according to this standard is proposed for executing programming, simulation and machining by industrial robots. A detailed description is given of a developed RoboSTEP-NC module which, being part of established methodology, translates the program according to ISO 10303-238 for 3-axis machining into a robot programming language. Programming verification has been realized, first, by simulation on virtual robots configured in STEP-NC Machine environment, and thereafter also by machining on a real available robot after translating machining program by applying the developed RoboSTEP-NC module.",
publisher = "Pergamon-Elsevier Science Ltd, Oxford",
journal = "Robotics and Computer-Integrated Manufacturing",
title = "An approach for applying STEP-NC in robot machining",
pages = "373-361",
volume = "49",
doi = "10.1016/j.rcim.2017.08.009"
}

Živanović, S., Slavković, N.,& Milutinović, D.. (2018). An approach for applying STEP-NC in robot machining. in Robotics and Computer-Integrated Manufacturing
Pergamon-Elsevier Science Ltd, Oxford., 49, 361-373.
https://doi.org/10.1016/j.rcim.2017.08.009

Živanović S, Slavković N, Milutinović D. An approach for applying STEP-NC in robot machining. in Robotics and Computer-Integrated Manufacturing. 2018;49:361-373.
doi:10.1016/j.rcim.2017.08.009 .

Živanović, Saša, Slavković, Nikola, Milutinović, Dragan, "An approach for applying STEP-NC in robot machining" in Robotics and Computer-Integrated Manufacturing, 49 (2018):361-373,
https://doi.org/10.1016/j.rcim.2017.08.009 . .

TY  - JOUR
AU  - Slavković, Nikola
AU  - Dimić, Zoran
AU  - Živanović, Saša
AU  - Milutinović, Milan
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2828
AB  - Industrijski roboti predstavljaju uspešnu alternativu 5-osnim mašinama alatkama za višeosnu obradu glodanjem delova od mekših materijala niže klase tačnosti. Iz ovih razloga se razvijaju softverska rešenja koja bi približila programiranje robota za obradu programiranju mašina alatki. U radu su predstavljeni rezultati kinematičkog modeliranja industrijskih robota vertikalne zglobne konfiguracije u cilju emuliranja horizontalnih 5-osnih mašina alatki. Na osnovu rešenja inverznog kinematičkog problema analiziran je radni prostor robota za obradu. Polazeći od jednačina direktne i inverzne kinematike razvijen je i sistem upravljanja i programiranja u G-kodu baziran na EMC2 softverskom sistemu. Razvijeni sistem upravljanja i programiranja omogućava upotrebu postojećih CAD/CAM sistema za programiranje 5-osnih mašina alatki, odnosno direktno je primenljiv od strane programera i operatera koji imaju iskustva u CNC tehnologijama i programiranju u G-kodu. Verifikacija kinematičkog modeliranja i razvijenog sistema upravljanja i programiranja je ostvarena eksperimentima obrade na rasploživom 6-oosnom robotu domaće proizvodnje LOLA 50.
AB  - Industrial robots are a proper alternative to 5-axis machine tools for multi-axis milling of parts from softer materials and lower tolerances. For these reasons, researchers develop software solutions to bring programming of machining robots closer to programming of machine tools. The paper presents the results of kinematic modeling of vertical articulated industrial robots to emulate 5-axis horizontal machine tools. The solution to the inverse kinematics problem was the basis for the analysis of the machining robot workspace. Starting from equations of direct and inverse kinematics the control and programming system in G-code was developed, based on EMC2 software system. Developed control and programming system enables use of the available CAD/CAM systems for programming 5-axis machine tools, i.e. it is directly applicable by programmers and operators experienced in CNC technologies and G-code programming. Verification of kinematic modeling and developed control and programming system was carried out by machining experiments on an available domestic 6-axis robot LOLA 50.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Kinematičko modeliranje horizontalne 5-osne glodalice emulirane robotom vertikalne zglobne konfiguracije
T1  - Kinematic modeling of 5-axis horizontal milling machine emulated from vertical articulated robot
EP  - 56
IS  - 1
SP  - 46
VL  - 46
DO  - 10.5937/fmet1801046S
ER  - 

@article{
author = "Slavković, Nikola and Dimić, Zoran and Živanović, Saša and Milutinović, Milan",
year = "2018",
abstract = "Industrijski roboti predstavljaju uspešnu alternativu 5-osnim mašinama alatkama za višeosnu obradu glodanjem delova od mekših materijala niže klase tačnosti. Iz ovih razloga se razvijaju softverska rešenja koja bi približila programiranje robota za obradu programiranju mašina alatki. U radu su predstavljeni rezultati kinematičkog modeliranja industrijskih robota vertikalne zglobne konfiguracije u cilju emuliranja horizontalnih 5-osnih mašina alatki. Na osnovu rešenja inverznog kinematičkog problema analiziran je radni prostor robota za obradu. Polazeći od jednačina direktne i inverzne kinematike razvijen je i sistem upravljanja i programiranja u G-kodu baziran na EMC2 softverskom sistemu. Razvijeni sistem upravljanja i programiranja omogućava upotrebu postojećih CAD/CAM sistema za programiranje 5-osnih mašina alatki, odnosno direktno je primenljiv od strane programera i operatera koji imaju iskustva u CNC tehnologijama i programiranju u G-kodu. Verifikacija kinematičkog modeliranja i razvijenog sistema upravljanja i programiranja je ostvarena eksperimentima obrade na rasploživom 6-oosnom robotu domaće proizvodnje LOLA 50., Industrial robots are a proper alternative to 5-axis machine tools for multi-axis milling of parts from softer materials and lower tolerances. For these reasons, researchers develop software solutions to bring programming of machining robots closer to programming of machine tools. The paper presents the results of kinematic modeling of vertical articulated industrial robots to emulate 5-axis horizontal machine tools. The solution to the inverse kinematics problem was the basis for the analysis of the machining robot workspace. Starting from equations of direct and inverse kinematics the control and programming system in G-code was developed, based on EMC2 software system. Developed control and programming system enables use of the available CAD/CAM systems for programming 5-axis machine tools, i.e. it is directly applicable by programmers and operators experienced in CNC technologies and G-code programming. Verification of kinematic modeling and developed control and programming system was carried out by machining experiments on an available domestic 6-axis robot LOLA 50.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Kinematičko modeliranje horizontalne 5-osne glodalice emulirane robotom vertikalne zglobne konfiguracije, Kinematic modeling of 5-axis horizontal milling machine emulated from vertical articulated robot",
pages = "56-46",
number = "1",
volume = "46",
doi = "10.5937/fmet1801046S"
}

Slavković, N., Dimić, Z., Živanović, S.,& Milutinović, M.. (2018). Kinematičko modeliranje horizontalne 5-osne glodalice emulirane robotom vertikalne zglobne konfiguracije. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 46(1), 46-56.
https://doi.org/10.5937/fmet1801046S

Slavković N, Dimić Z, Živanović S, Milutinović M. Kinematičko modeliranje horizontalne 5-osne glodalice emulirane robotom vertikalne zglobne konfiguracije. in FME Transactions. 2018;46(1):46-56.
doi:10.5937/fmet1801046S .

Slavković, Nikola, Dimić, Zoran, Živanović, Saša, Milutinović, Milan, "Kinematičko modeliranje horizontalne 5-osne glodalice emulirane robotom vertikalne zglobne konfiguracije" in FME Transactions, 46, no. 1 (2018):46-56,
https://doi.org/10.5937/fmet1801046S . .

TY  - JOUR
AU  - Dragović, Branislav
AU  - Meštrović, Romeo
AU  - Zrnić, Nenad
AU  - Dragojević, Dražen
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2809
AB  - Pojam specifiičnog odnosa troškova odnosi se na razne tipove troškova broda i luke modelirane kao sistem reda čekanja Koristeći poznatu opštu formulu za specifični odnos troškova (označen sa R), izvodimo odgovarajući izraz za R u odnosu na M/Ek/1 model reda čekanja, gde je Ek (k = 2,3,...) Erlangova k - raspodela verovatnoće. Ovaj izraz nam omogućava da dobijemo teorijski rezultat koji se može primeniti za određivanje optimalnih vrednosti parametra oblika k od Ek uz data ograničenja u odnosu na druge performanse razmatranog lučkog modela teorije redova čekanja. Takođe su predstavljeni odgovarajući numerički i grafički rezultati. Dobijeni rezultati bi mogli biti korisni za buduća istraživanja razmatrane problematike.
AB  - The notion of specific cost ratio involves different type of costs of a ship and a port modeled as a queueing system. Using the known general formula for the specific cost ratio of arbitrary port queueing system (denoted as R), here we derive the related expression for R of the M/Ek/1 queue, where Ek (k = 2,3,...) is the Erlang- k probability distribution. This expression allows us to obtain a theoretical result which can be applied for determining the optimal values of shape parameter k of Ek under given constraints on other performances of the considered port queueing system. The related numerical and the graphical results are also presented. The obtained results would be a useful tool in future research in related subject areas.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Modeliranje specifičnog odnosa troškova u luci sa M/Ek/1 modelom teorije redova čekanja
T1  - Specific cost ratio in a port modelling by M/Ek/1 queue
EP  - 359
IS  - 3
SP  - 355
VL  - 46
DO  - 10.5937/fmet1803355D
ER  - 

@article{
author = "Dragović, Branislav and Meštrović, Romeo and Zrnić, Nenad and Dragojević, Dražen",
year = "2018",
abstract = "Pojam specifiičnog odnosa troškova odnosi se na razne tipove troškova broda i luke modelirane kao sistem reda čekanja Koristeći poznatu opštu formulu za specifični odnos troškova (označen sa R), izvodimo odgovarajući izraz za R u odnosu na M/Ek/1 model reda čekanja, gde je Ek (k = 2,3,...) Erlangova k - raspodela verovatnoće. Ovaj izraz nam omogućava da dobijemo teorijski rezultat koji se može primeniti za određivanje optimalnih vrednosti parametra oblika k od Ek uz data ograničenja u odnosu na druge performanse razmatranog lučkog modela teorije redova čekanja. Takođe su predstavljeni odgovarajući numerički i grafički rezultati. Dobijeni rezultati bi mogli biti korisni za buduća istraživanja razmatrane problematike., The notion of specific cost ratio involves different type of costs of a ship and a port modeled as a queueing system. Using the known general formula for the specific cost ratio of arbitrary port queueing system (denoted as R), here we derive the related expression for R of the M/Ek/1 queue, where Ek (k = 2,3,...) is the Erlang- k probability distribution. This expression allows us to obtain a theoretical result which can be applied for determining the optimal values of shape parameter k of Ek under given constraints on other performances of the considered port queueing system. The related numerical and the graphical results are also presented. The obtained results would be a useful tool in future research in related subject areas.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Modeliranje specifičnog odnosa troškova u luci sa M/Ek/1 modelom teorije redova čekanja, Specific cost ratio in a port modelling by M/Ek/1 queue",
pages = "359-355",
number = "3",
volume = "46",
doi = "10.5937/fmet1803355D"
}

Dragović, B., Meštrović, R., Zrnić, N.,& Dragojević, D.. (2018). Modeliranje specifičnog odnosa troškova u luci sa M/Ek/1 modelom teorije redova čekanja. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 46(3), 355-359.
https://doi.org/10.5937/fmet1803355D

Dragović B, Meštrović R, Zrnić N, Dragojević D. Modeliranje specifičnog odnosa troškova u luci sa M/Ek/1 modelom teorije redova čekanja. in FME Transactions. 2018;46(3):355-359.
doi:10.5937/fmet1803355D .

Dragović, Branislav, Meštrović, Romeo, Zrnić, Nenad, Dragojević, Dražen, "Modeliranje specifičnog odnosa troškova u luci sa M/Ek/1 modelom teorije redova čekanja" in FME Transactions, 46, no. 3 (2018):355-359,
https://doi.org/10.5937/fmet1803355D . .

TY  - JOUR
AU  - Meštrović, Romeo
AU  - Dragović, Branislav
AU  - Zrnić, Nenad
AU  - Dragojević, Dražen
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2969
AB  - U ovom radu razmatrani su grupni dolasci kontenera na kontenerskom skladištu koji su modelirani višekanalnim sistemom teorije redova čekanja MX/M/c sa c skladišnih dizalica kao kanalima opsluživanja. Pretpostavljeno je da je veličina grupe kontenera, X (broj kontenera y grupi koja dolazi na kontenersko skladište) distribuirana u skladu sa Puasonovskim tipom raspodele. Koristeći opšti izraz za razmatrani model redova čekanja, izveden je izraz za odnos specifičnih troškova koji sadrži verovatnoće stanja sistema, faktor iskorišćenja sistema, srednju vrednost i disperziju veličine grupe. Primenjujući taj izraz, predstavljeni su odgovarajući numerički i grafički rezultati za 1, 2 i 3 skladišne dizalice na kontenerskom skladištu u luci. Takođe ističemo da dobijeni analitički izraz omogućava diskusiju i poređenje vrednosti odnosa specifičnih troškova razmatranih modela redova čekanja MX/M/c sa različitim parametrima performanse luke, kao i poređenja istih sa odnosom specifičnih troškova u odnosu na redove čekanja istraživanih u prethodnim radovima autora koji se odnose na ovaj problem.
AB  - In this paper we consider batch arrivals of containers at a port container yard which is modeled as a multi-server queue MX/M/c with c yard cranes for the service. It is assumed that the related group size (the number of containers in an arriving group), X is distributed by a Poisson-like distribution. Using a more general formula for such queue models, here it is deduced the expression for the specific cost ratio involving the state probabilities, the utilization factor, the mean and the variance of the group size. Applying this expression, related numerical and graphical results are presented when the number of yard cranes at container yard in port is 1, 2 or 3. We also point out that this expression allows us to discuss and compare the values of specific cost ratio concerning the considered MX/M/c queues with different port performance parameters, as well as with specific cost ratio of the queues investigated in earlier authors' papers on this topic.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Međuzavisnost različitih troškova modeliranja kontenerskih skladišta u luci primenom teorije redova čekanja
T1  - A relationship between different costs of container yard modelling in port using queuing approach
EP  - 373
IS  - 3
SP  - 367
VL  - 46
DO  - 10.5937/fmet1803367M
ER  - 

@article{
author = "Meštrović, Romeo and Dragović, Branislav and Zrnić, Nenad and Dragojević, Dražen",
year = "2018",
abstract = "U ovom radu razmatrani su grupni dolasci kontenera na kontenerskom skladištu koji su modelirani višekanalnim sistemom teorije redova čekanja MX/M/c sa c skladišnih dizalica kao kanalima opsluživanja. Pretpostavljeno je da je veličina grupe kontenera, X (broj kontenera y grupi koja dolazi na kontenersko skladište) distribuirana u skladu sa Puasonovskim tipom raspodele. Koristeći opšti izraz za razmatrani model redova čekanja, izveden je izraz za odnos specifičnih troškova koji sadrži verovatnoće stanja sistema, faktor iskorišćenja sistema, srednju vrednost i disperziju veličine grupe. Primenjujući taj izraz, predstavljeni su odgovarajući numerički i grafički rezultati za 1, 2 i 3 skladišne dizalice na kontenerskom skladištu u luci. Takođe ističemo da dobijeni analitički izraz omogućava diskusiju i poređenje vrednosti odnosa specifičnih troškova razmatranih modela redova čekanja MX/M/c sa različitim parametrima performanse luke, kao i poređenja istih sa odnosom specifičnih troškova u odnosu na redove čekanja istraživanih u prethodnim radovima autora koji se odnose na ovaj problem., In this paper we consider batch arrivals of containers at a port container yard which is modeled as a multi-server queue MX/M/c with c yard cranes for the service. It is assumed that the related group size (the number of containers in an arriving group), X is distributed by a Poisson-like distribution. Using a more general formula for such queue models, here it is deduced the expression for the specific cost ratio involving the state probabilities, the utilization factor, the mean and the variance of the group size. Applying this expression, related numerical and graphical results are presented when the number of yard cranes at container yard in port is 1, 2 or 3. We also point out that this expression allows us to discuss and compare the values of specific cost ratio concerning the considered MX/M/c queues with different port performance parameters, as well as with specific cost ratio of the queues investigated in earlier authors' papers on this topic.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Međuzavisnost različitih troškova modeliranja kontenerskih skladišta u luci primenom teorije redova čekanja, A relationship between different costs of container yard modelling in port using queuing approach",
pages = "373-367",
number = "3",
volume = "46",
doi = "10.5937/fmet1803367M"
}

Meštrović, R., Dragović, B., Zrnić, N.,& Dragojević, D.. (2018). Međuzavisnost različitih troškova modeliranja kontenerskih skladišta u luci primenom teorije redova čekanja. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 46(3), 367-373.
https://doi.org/10.5937/fmet1803367M

Meštrović R, Dragović B, Zrnić N, Dragojević D. Međuzavisnost različitih troškova modeliranja kontenerskih skladišta u luci primenom teorije redova čekanja. in FME Transactions. 2018;46(3):367-373.
doi:10.5937/fmet1803367M .

Meštrović, Romeo, Dragović, Branislav, Zrnić, Nenad, Dragojević, Dražen, "Međuzavisnost različitih troškova modeliranja kontenerskih skladišta u luci primenom teorije redova čekanja" in FME Transactions, 46, no. 3 (2018):367-373,
https://doi.org/10.5937/fmet1803367M . .

TY  - JOUR
AU  - Živanović, Saša
AU  - Vasilić, Goran
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2610
AB  - Novi metod programiranja numerički upravljanih mašina alatki, koji se javlja kao alternativa G kôdu (po standardu ISO6983), je protokol AP238, ili STEP-NC, po standardu ISO10303. U radu je dato poređenje klasičnog (G kôd) i novog načina programiranja (STEP-NC), struktura opreme potrebne za novi metod programiranja, struktura programa i aktuelni scenariji za primenu protokola STEP-NC. Verifikacija navedenih scenarija realizovana je kroz tri primera.
AB  - A new programming method of CNC Machine tools, which is developing as an alternative to G code, is AP238 protocol or STEP-NC, according to ISO 10303 standard. In this paper, a comparation between classical (G code) and new way of programming (STEP-NC ) is given. A structure of equipment needed for new programming method, program structure and current scenario for implementation of STEP-NC are shown. Verification of the above scenarios using the STEP-NC, is realized through three examples.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Novi metod programiranja numerički upravljanih mašina alatki primenom STEP-NC protokola
T1  - A new CNC programming method using STEP-NC protocol
EP  - 158
IS  - 1
SP  - 149
VL  - 45
DO  - 10.5937/fmet1701149Z
ER  - 

@article{
author = "Živanović, Saša and Vasilić, Goran",
year = "2017",
abstract = "Novi metod programiranja numerički upravljanih mašina alatki, koji se javlja kao alternativa G kôdu (po standardu ISO6983), je protokol AP238, ili STEP-NC, po standardu ISO10303. U radu je dato poređenje klasičnog (G kôd) i novog načina programiranja (STEP-NC), struktura opreme potrebne za novi metod programiranja, struktura programa i aktuelni scenariji za primenu protokola STEP-NC. Verifikacija navedenih scenarija realizovana je kroz tri primera., A new programming method of CNC Machine tools, which is developing as an alternative to G code, is AP238 protocol or STEP-NC, according to ISO 10303 standard. In this paper, a comparation between classical (G code) and new way of programming (STEP-NC ) is given. A structure of equipment needed for new programming method, program structure and current scenario for implementation of STEP-NC are shown. Verification of the above scenarios using the STEP-NC, is realized through three examples.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Novi metod programiranja numerički upravljanih mašina alatki primenom STEP-NC protokola, A new CNC programming method using STEP-NC protocol",
pages = "158-149",
number = "1",
volume = "45",
doi = "10.5937/fmet1701149Z"
}

Živanović, S.,& Vasilić, G.. (2017). Novi metod programiranja numerički upravljanih mašina alatki primenom STEP-NC protokola. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 45(1), 149-158.
https://doi.org/10.5937/fmet1701149Z

Živanović S, Vasilić G. Novi metod programiranja numerički upravljanih mašina alatki primenom STEP-NC protokola. in FME Transactions. 2017;45(1):149-158.
doi:10.5937/fmet1701149Z .

Živanović, Saša, Vasilić, Goran, "Novi metod programiranja numerički upravljanih mašina alatki primenom STEP-NC protokola" in FME Transactions, 45, no. 1 (2017):149-158,
https://doi.org/10.5937/fmet1701149Z . .

TY  - JOUR
AU  - Živanović, Saša
AU  - Puzović, Radovan
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2453
AB  - This paper presents the possibilities of applying a new method of programming based on STEP-NC standards, which was developed as an alternative to the G code. The possibilities of application in the field of machining simulation and verification of the program before machining on the wire electrical discharge machine are discussed. The paper shows the possible methodology for simulation and verification of programs based on the STEP-NC using IDEF0 diagrams, as well as links between the software programs STEP-NC Machine and CAD/CAM system. The presented methodology is verified by the test workpiece machining, based on the STEP-NC program.
PB  - Univ Osijek, Tech Fac, Slavonski Brod
T2  - Tehnički vjesnik
T1  - Wire edm machining simulations based on step-nc program
EP  - 1838
IS  - 6
SP  - 1831
VL  - 23
DO  - 10.17559/TV-20151122180547
ER  - 

@article{
author = "Živanović, Saša and Puzović, Radovan",
year = "2016",
abstract = "This paper presents the possibilities of applying a new method of programming based on STEP-NC standards, which was developed as an alternative to the G code. The possibilities of application in the field of machining simulation and verification of the program before machining on the wire electrical discharge machine are discussed. The paper shows the possible methodology for simulation and verification of programs based on the STEP-NC using IDEF0 diagrams, as well as links between the software programs STEP-NC Machine and CAD/CAM system. The presented methodology is verified by the test workpiece machining, based on the STEP-NC program.",
publisher = "Univ Osijek, Tech Fac, Slavonski Brod",
journal = "Tehnički vjesnik",
title = "Wire edm machining simulations based on step-nc program",
pages = "1838-1831",
number = "6",
volume = "23",
doi = "10.17559/TV-20151122180547"
}

Živanović, S.,& Puzović, R.. (2016). Wire edm machining simulations based on step-nc program. in Tehnički vjesnik
Univ Osijek, Tech Fac, Slavonski Brod., 23(6), 1831-1838.
https://doi.org/10.17559/TV-20151122180547

Živanović S, Puzović R. Wire edm machining simulations based on step-nc program. in Tehnički vjesnik. 2016;23(6):1831-1838.
doi:10.17559/TV-20151122180547 .

Živanović, Saša, Puzović, Radovan, "Wire edm machining simulations based on step-nc program" in Tehnički vjesnik, 23, no. 6 (2016):1831-1838,
https://doi.org/10.17559/TV-20151122180547 . .

TY  - JOUR
AU  - Kolendić, Petar
AU  - Genić, Srbislav
AU  - Jaćimović, Branislav M.
AU  - Ćuprić, Nenad Lj.
AU  - Jakimov, Sasa M.
AU  - Radanov, Branka B.
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2082
AB  - This paper presents an analysis of working parameters of the pressure-powered pump. Mathematical models for determining the pump filling and discharge periods were developed and statistically compared to experimental results. The statistical parameters of the final correlation between here presented mathematical model and experimental results are in the acceptable range. Pump characteristics are presented in the common manner: in the form of the pump head vs. capacity diagram.
PB  - Univerzitet u Beogradu - Institut za nuklearne nauke Vinča, Beograd
T2  - Thermal Science
T1  - Modeling of the working cycle of the pressure-powered pump
EP  - 1058
IS  - 3
SP  - 1051
VL  - 19
DO  - 10.2298/TSCI131223021G
ER  - 

@article{
author = "Kolendić, Petar and Genić, Srbislav and Jaćimović, Branislav M. and Ćuprić, Nenad Lj. and Jakimov, Sasa M. and Radanov, Branka B.",
year = "2015",
abstract = "This paper presents an analysis of working parameters of the pressure-powered pump. Mathematical models for determining the pump filling and discharge periods were developed and statistically compared to experimental results. The statistical parameters of the final correlation between here presented mathematical model and experimental results are in the acceptable range. Pump characteristics are presented in the common manner: in the form of the pump head vs. capacity diagram.",
publisher = "Univerzitet u Beogradu - Institut za nuklearne nauke Vinča, Beograd",
journal = "Thermal Science",
title = "Modeling of the working cycle of the pressure-powered pump",
pages = "1058-1051",
number = "3",
volume = "19",
doi = "10.2298/TSCI131223021G"
}

Kolendić, P., Genić, S., Jaćimović, B. M., Ćuprić, N. Lj., Jakimov, S. M.,& Radanov, B. B.. (2015). Modeling of the working cycle of the pressure-powered pump. in Thermal Science
Univerzitet u Beogradu - Institut za nuklearne nauke Vinča, Beograd., 19(3), 1051-1058.
https://doi.org/10.2298/TSCI131223021G

Kolendić P, Genić S, Jaćimović BM, Ćuprić NL, Jakimov SM, Radanov BB. Modeling of the working cycle of the pressure-powered pump. in Thermal Science. 2015;19(3):1051-1058.
doi:10.2298/TSCI131223021G .

Kolendić, Petar, Genić, Srbislav, Jaćimović, Branislav M., Ćuprić, Nenad Lj., Jakimov, Sasa M., Radanov, Branka B., "Modeling of the working cycle of the pressure-powered pump" in Thermal Science, 19, no. 3 (2015):1051-1058,
https://doi.org/10.2298/TSCI131223021G . .

TY  - JOUR
AU  - Živanović, Saša
AU  - Glavonjić, Miloš
AU  - Milutinović, Dragan
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2099
AB  - Configuring new machine tools is a complex task that involves the use of a large range of conceptions, methods, models, virtual prototypes and simulations. This paper presents a methodology for configuring a new machine tool to the level of a virtual prototype by using CAD configurator Pro/WEB.Link and a top-down approach. This methodology is explained via an example of the development of a mini-laboratory and desktop 3-axis parallel kinematic milling machine (PKMM). The results are two variants of the virtual prototype and one real world prototype. The configured virtual prototypes are used for the verification of the machining program and programming system using machining simulation in the CAD/CAM environment. The mini-laboratory and desktop 3-axis PKMM has been verified by the successful machining of test workpieces.
PB  - Assoc Mechanical Engineers Technicians Slovenia, Ljubljana
T2  - Strojniski Vestnik-Journal of Mechanical Engineering
T1  - Configuring A Mini-Laboratory and Desktop 3-Axis Parallel Kinematic Milling Machine
EP  - 42
IS  - 1
SP  - 33
VL  - 61
DO  - 10.5545/sv-jme.2013.1619
ER  - 

@article{
author = "Živanović, Saša and Glavonjić, Miloš and Milutinović, Dragan",
year = "2015",
abstract = "Configuring new machine tools is a complex task that involves the use of a large range of conceptions, methods, models, virtual prototypes and simulations. This paper presents a methodology for configuring a new machine tool to the level of a virtual prototype by using CAD configurator Pro/WEB.Link and a top-down approach. This methodology is explained via an example of the development of a mini-laboratory and desktop 3-axis parallel kinematic milling machine (PKMM). The results are two variants of the virtual prototype and one real world prototype. The configured virtual prototypes are used for the verification of the machining program and programming system using machining simulation in the CAD/CAM environment. The mini-laboratory and desktop 3-axis PKMM has been verified by the successful machining of test workpieces.",
publisher = "Assoc Mechanical Engineers Technicians Slovenia, Ljubljana",
journal = "Strojniski Vestnik-Journal of Mechanical Engineering",
title = "Configuring A Mini-Laboratory and Desktop 3-Axis Parallel Kinematic Milling Machine",
pages = "42-33",
number = "1",
volume = "61",
doi = "10.5545/sv-jme.2013.1619"
}

Živanović, S., Glavonjić, M.,& Milutinović, D.. (2015). Configuring A Mini-Laboratory and Desktop 3-Axis Parallel Kinematic Milling Machine. in Strojniski Vestnik-Journal of Mechanical Engineering
Assoc Mechanical Engineers Technicians Slovenia, Ljubljana., 61(1), 33-42.
https://doi.org/10.5545/sv-jme.2013.1619

Živanović S, Glavonjić M, Milutinović D. Configuring A Mini-Laboratory and Desktop 3-Axis Parallel Kinematic Milling Machine. in Strojniski Vestnik-Journal of Mechanical Engineering. 2015;61(1):33-42.
doi:10.5545/sv-jme.2013.1619 .

Živanović, Saša, Glavonjić, Miloš, Milutinović, Dragan, "Configuring A Mini-Laboratory and Desktop 3-Axis Parallel Kinematic Milling Machine" in Strojniski Vestnik-Journal of Mechanical Engineering, 61, no. 1 (2015):33-42,
https://doi.org/10.5545/sv-jme.2013.1619 . .

TY  - JOUR
AU  - Paprika, Milijana J.
AU  - Komatina, Mirko
AU  - Dakić, Dragoljub
AU  - Živković, Goran
AU  - Mladenović, Milica
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2196
AB  - The paper presents a comparison between experimental and model results of primary fragmentation of a lignite coal in a fluidized bed (FB). In the experiments, the char particle size distribution and the general indicators of primary fragmentation (intensity and index) were determined. The same parameters were calculated using a mathematical model of the process, fed by data of the fuel (the amount of volatiles and fixed carbon), fluidized bed temperature; and inlet particle size distribution. The size distribution and number of the char particles in fluidized bed significantly differ from the size distribution and number of inlet coal particles. Char population has a bimodal distribution separate distributions for the smaller and larger sets of fragments. The experimental and model results show the same tendency: a coal particle partially breaks at the beginning of devolatilization, giving a large number of fine fragments, while, as the process continues, the rest of the parent particle sometimes breaks down into a smaller number of larger pieces, and sometimes does not fragment at all. Review of the Weibull distribution coefficients enables prediction of the char particle size distribution for the characteristic fluidized bed conditions and inlet coal particle sizes.
PB  - Amer Chemical Soc, Washington
T2  - Energy & Fuels
T1  - Experimental and Numerical Investigation of the Primary Fragmentation of a Lignite during Fluidized-Bed (FB) Devolatilization
EP  - 3398
IS  - 5
SP  - 3394
VL  - 29
DO  - 10.1021/ef5024803
ER  - 

@article{
author = "Paprika, Milijana J. and Komatina, Mirko and Dakić, Dragoljub and Živković, Goran and Mladenović, Milica",
year = "2015",
abstract = "The paper presents a comparison between experimental and model results of primary fragmentation of a lignite coal in a fluidized bed (FB). In the experiments, the char particle size distribution and the general indicators of primary fragmentation (intensity and index) were determined. The same parameters were calculated using a mathematical model of the process, fed by data of the fuel (the amount of volatiles and fixed carbon), fluidized bed temperature; and inlet particle size distribution. The size distribution and number of the char particles in fluidized bed significantly differ from the size distribution and number of inlet coal particles. Char population has a bimodal distribution separate distributions for the smaller and larger sets of fragments. The experimental and model results show the same tendency: a coal particle partially breaks at the beginning of devolatilization, giving a large number of fine fragments, while, as the process continues, the rest of the parent particle sometimes breaks down into a smaller number of larger pieces, and sometimes does not fragment at all. Review of the Weibull distribution coefficients enables prediction of the char particle size distribution for the characteristic fluidized bed conditions and inlet coal particle sizes.",
publisher = "Amer Chemical Soc, Washington",
journal = "Energy & Fuels",
title = "Experimental and Numerical Investigation of the Primary Fragmentation of a Lignite during Fluidized-Bed (FB) Devolatilization",
pages = "3398-3394",
number = "5",
volume = "29",
doi = "10.1021/ef5024803"
}

Paprika, M. J., Komatina, M., Dakić, D., Živković, G.,& Mladenović, M.. (2015). Experimental and Numerical Investigation of the Primary Fragmentation of a Lignite during Fluidized-Bed (FB) Devolatilization. in Energy & Fuels
Amer Chemical Soc, Washington., 29(5), 3394-3398.
https://doi.org/10.1021/ef5024803

Paprika MJ, Komatina M, Dakić D, Živković G, Mladenović M. Experimental and Numerical Investigation of the Primary Fragmentation of a Lignite during Fluidized-Bed (FB) Devolatilization. in Energy & Fuels. 2015;29(5):3394-3398.
doi:10.1021/ef5024803 .

Paprika, Milijana J., Komatina, Mirko, Dakić, Dragoljub, Živković, Goran, Mladenović, Milica, "Experimental and Numerical Investigation of the Primary Fragmentation of a Lignite during Fluidized-Bed (FB) Devolatilization" in Energy & Fuels, 29, no. 5 (2015):3394-3398,
https://doi.org/10.1021/ef5024803 . .

TY  - JOUR
AU  - Slavković, Nikola
AU  - Milutinović, Dragan
AU  - Glavonjić, Miloš
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1999
AB  - Industrial robots are promising cost-effective and flexible alternatives for multi-axis milling applications in machining of complex parts of light materials with lower tolerances, having freeform surfaces. As it is well-known, the poor accuracy, stiffness, and the complexity of programming are the most important limiting factors for wider adoption of robotic machining in machine shops. The paper presents the developed method for off-line compensation of machining robot tool tip static displacements as a dominant part of cutting force-induced errors. The developed method is based on modification of programmed trajectory in G-code. Off-line modification of programmed trajectory is performed according to the predicted static tool tip displacements calculated based on developed robot compliance model and cutting forces predicted by mechanistic model. The obtained experimental results show the relevance of developed method since the machining errors could be significantly reduced. This allows the desired accuracy of robot machining to converge towards nominal specifications.
PB  - Springer London Ltd, London
T2  - International Journal of Advanced Manufacturing Technology
T1  - A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification
EP  - 2096
IS  - 9-12
SP  - 2083
VL  - 70
DO  - 10.1007/s00170-013-5421-z
ER  - 

@article{
author = "Slavković, Nikola and Milutinović, Dragan and Glavonjić, Miloš",
year = "2014",
abstract = "Industrial robots are promising cost-effective and flexible alternatives for multi-axis milling applications in machining of complex parts of light materials with lower tolerances, having freeform surfaces. As it is well-known, the poor accuracy, stiffness, and the complexity of programming are the most important limiting factors for wider adoption of robotic machining in machine shops. The paper presents the developed method for off-line compensation of machining robot tool tip static displacements as a dominant part of cutting force-induced errors. The developed method is based on modification of programmed trajectory in G-code. Off-line modification of programmed trajectory is performed according to the predicted static tool tip displacements calculated based on developed robot compliance model and cutting forces predicted by mechanistic model. The obtained experimental results show the relevance of developed method since the machining errors could be significantly reduced. This allows the desired accuracy of robot machining to converge towards nominal specifications.",
publisher = "Springer London Ltd, London",
journal = "International Journal of Advanced Manufacturing Technology",
title = "A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification",
pages = "2096-2083",
number = "9-12",
volume = "70",
doi = "10.1007/s00170-013-5421-z"
}

Slavković, N., Milutinović, D.,& Glavonjić, M.. (2014). A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification. in International Journal of Advanced Manufacturing Technology
Springer London Ltd, London., 70(9-12), 2083-2096.
https://doi.org/10.1007/s00170-013-5421-z

Slavković N, Milutinović D, Glavonjić M. A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification. in International Journal of Advanced Manufacturing Technology. 2014;70(9-12):2083-2096.
doi:10.1007/s00170-013-5421-z .

Slavković, Nikola, Milutinović, Dragan, Glavonjić, Miloš, "A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification" in International Journal of Advanced Manufacturing Technology, 70, no. 9-12 (2014):2083-2096,
https://doi.org/10.1007/s00170-013-5421-z . .