TY  - CONF
AU  - Kasalica, Vidoje
AU  - Stojadinović, Slavenko
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7226
AB  - The development of computer technologies and software packages, along with their increasingly
advanced capabilities, has brought forth new requirements in the field of coordinate metrology. As an essential response to the challenges of modern production and measurement approaches, the concept of the digital twin has emerged and is actively evolving. This concept is becoming increasingly significant in the industry, enabling the monitoring, control, and simulation of measurement as well as inspection of objects or processes within a digital environment. Integration within the industrial context opens doors to novel methods of analysis, optimization, and management of production systems. The contribution offered by this study lies in addressing the issue of interoperability between output data obtained from physical coordinate measuring
machines (.dms) and output data derived from inspection process simulations (.ncl) on virtual machines. This constitutes a pivotal part of the communication process between the virtual and real twins. The approach is grounded in the identification of key parameters and analysis of the structure of generated DMIS file codes originating from PTC Creo software and PC-DMIS software for real machines. The findings of this research contribute to the development of efficient tools for analysis, processing, and translation of codes for communication between the virtual and real components of digital twins. This provides a foundation for semantic understanding of their structure, precise communication, and broader application across industries. The development of this interoperable model serves to advance towards the goal of enabling the direct implementation of obtained simulation code on coordinate measuring machines (CMM). Such implementation in an on-line and, crucially, real-time mode would facilitate the interconnection of diverse digital twins, realizing the potential for integration within complex technological systems.
PB  - UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES DEPARTMENT OF PRODUCTION ENGINEERING DEPARTMENT OF INDUSTRIAL ENGINEERING AND ENGINEERING MANAGEMENT 21000 NOVI SAD, Trg Dositeja Obradovica 6, SERBIA
C3  - Proceedings of the 39th International Conference on production Engineering of Serbia – ICPES 2023
T1  - DATA INTEROPERABILITY IN COMMUNICATION BETWEEN REAL AND DIGITAL MEASURING TWIN .
EP  - 54
SP  - 48
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7226
ER  - 

@conference{
author = "Kasalica, Vidoje and Stojadinović, Slavenko",
year = "2023",
abstract = "The development of computer technologies and software packages, along with their increasingly
advanced capabilities, has brought forth new requirements in the field of coordinate metrology. As an essential response to the challenges of modern production and measurement approaches, the concept of the digital twin has emerged and is actively evolving. This concept is becoming increasingly significant in the industry, enabling the monitoring, control, and simulation of measurement as well as inspection of objects or processes within a digital environment. Integration within the industrial context opens doors to novel methods of analysis, optimization, and management of production systems. The contribution offered by this study lies in addressing the issue of interoperability between output data obtained from physical coordinate measuring
machines (.dms) and output data derived from inspection process simulations (.ncl) on virtual machines. This constitutes a pivotal part of the communication process between the virtual and real twins. The approach is grounded in the identification of key parameters and analysis of the structure of generated DMIS file codes originating from PTC Creo software and PC-DMIS software for real machines. The findings of this research contribute to the development of efficient tools for analysis, processing, and translation of codes for communication between the virtual and real components of digital twins. This provides a foundation for semantic understanding of their structure, precise communication, and broader application across industries. The development of this interoperable model serves to advance towards the goal of enabling the direct implementation of obtained simulation code on coordinate measuring machines (CMM). Such implementation in an on-line and, crucially, real-time mode would facilitate the interconnection of diverse digital twins, realizing the potential for integration within complex technological systems.",
publisher = "UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES DEPARTMENT OF PRODUCTION ENGINEERING DEPARTMENT OF INDUSTRIAL ENGINEERING AND ENGINEERING MANAGEMENT 21000 NOVI SAD, Trg Dositeja Obradovica 6, SERBIA",
journal = "Proceedings of the 39th International Conference on production Engineering of Serbia – ICPES 2023",
title = "DATA INTEROPERABILITY IN COMMUNICATION BETWEEN REAL AND DIGITAL MEASURING TWIN .",
pages = "54-48",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7226"
}

Kasalica, V.,& Stojadinović, S.. (2023). DATA INTEROPERABILITY IN COMMUNICATION BETWEEN REAL AND DIGITAL MEASURING TWIN .. in Proceedings of the 39th International Conference on production Engineering of Serbia – ICPES 2023
UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES DEPARTMENT OF PRODUCTION ENGINEERING DEPARTMENT OF INDUSTRIAL ENGINEERING AND ENGINEERING MANAGEMENT 21000 NOVI SAD, Trg Dositeja Obradovica 6, SERBIA., 48-54.
https://hdl.handle.net/21.15107/rcub_machinery_7226

Kasalica V, Stojadinović S. DATA INTEROPERABILITY IN COMMUNICATION BETWEEN REAL AND DIGITAL MEASURING TWIN .. in Proceedings of the 39th International Conference on production Engineering of Serbia – ICPES 2023. 2023;:48-54.
https://hdl.handle.net/21.15107/rcub_machinery_7226 .

Kasalica, Vidoje, Stojadinović, Slavenko, "DATA INTEROPERABILITY IN COMMUNICATION BETWEEN REAL AND DIGITAL MEASURING TWIN ." in Proceedings of the 39th International Conference on production Engineering of Serbia – ICPES 2023 (2023):48-54,
https://hdl.handle.net/21.15107/rcub_machinery_7226 .

TY  - CONF
AU  - Dević, Andrija
AU  - Lukić, Nikola
AU  - Matijašević, Lazar
AU  - Petrović, Petar
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6389
AB  - Production paradigm of mass customization and development of highly complex products impose 
the need for development and using xR technologies in manufacturing. Immersive technologies (xR) are 
currently the best solution for human-machine interfaces and as such are great candidate for further 
development and usage in industry. In this paper, a way of integration between CAD modeler and xR 
development engine will be shown. For CAD modeler, SolidWorks software is chosen, which is well known as 
one of the most widely used engineering design tools, and for the xR development system is used Unity. 
Even thou SolidWorks offers great capabilities it still lacks proper xR technologies interfaces which can 
connect HMD xR interfaces(e. g. Facebook Oculus Rift). Using Unity API library and SolidWorks SDK digital twin system is created which allows remotely xR interaction between CAD and XR models.
C3  - Proceedings of the 38th International Conference on Production Engineering - ICPE-S 2021, 14 – 15. October 2021, Čačak, Serbia, 2021, 144-148
T1  - Linking cad modeler and XR engine for digital twin-based collaborative robotic assembly
EP  - 148
SP  - 144
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6389
ER  - 

@conference{
author = "Dević, Andrija and Lukić, Nikola and Matijašević, Lazar and Petrović, Petar",
year = "2021",
abstract = "Production paradigm of mass customization and development of highly complex products impose 
the need for development and using xR technologies in manufacturing. Immersive technologies (xR) are 
currently the best solution for human-machine interfaces and as such are great candidate for further 
development and usage in industry. In this paper, a way of integration between CAD modeler and xR 
development engine will be shown. For CAD modeler, SolidWorks software is chosen, which is well known as 
one of the most widely used engineering design tools, and for the xR development system is used Unity. 
Even thou SolidWorks offers great capabilities it still lacks proper xR technologies interfaces which can 
connect HMD xR interfaces(e. g. Facebook Oculus Rift). Using Unity API library and SolidWorks SDK digital twin system is created which allows remotely xR interaction between CAD and XR models.",
journal = "Proceedings of the 38th International Conference on Production Engineering - ICPE-S 2021, 14 – 15. October 2021, Čačak, Serbia, 2021, 144-148",
title = "Linking cad modeler and XR engine for digital twin-based collaborative robotic assembly",
pages = "148-144",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6389"
}

Dević, A., Lukić, N., Matijašević, L.,& Petrović, P.. (2021). Linking cad modeler and XR engine for digital twin-based collaborative robotic assembly. in Proceedings of the 38th International Conference on Production Engineering - ICPE-S 2021, 14 – 15. October 2021, Čačak, Serbia, 2021, 144-148, 144-148.
https://hdl.handle.net/21.15107/rcub_machinery_6389

Dević A, Lukić N, Matijašević L, Petrović P. Linking cad modeler and XR engine for digital twin-based collaborative robotic assembly. in Proceedings of the 38th International Conference on Production Engineering - ICPE-S 2021, 14 – 15. October 2021, Čačak, Serbia, 2021, 144-148. 2021;:144-148.
https://hdl.handle.net/21.15107/rcub_machinery_6389 .

Dević, Andrija, Lukić, Nikola, Matijašević, Lazar, Petrović, Petar, "Linking cad modeler and XR engine for digital twin-based collaborative robotic assembly" in Proceedings of the 38th International Conference on Production Engineering - ICPE-S 2021, 14 – 15. October 2021, Čačak, Serbia, 2021, 144-148 (2021):144-148,
https://hdl.handle.net/21.15107/rcub_machinery_6389 .

TY  - CONF
AU  - Lukić, Nikola
AU  - Petrović, Petar
AU  - Matijašević, Lazar
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6390
AB  - U radu su predstavljeni konceptualni aspekti upravljanja kretanja redundantne antropomorfne robotske ruke 
sa 7 stepeni slobode u konfiguracionom prostoru nule, sa ciljem postizanja svojstva generalizovane krutosti 
vrha robota koja su konzistentna sa osnovnim zahtevima procesa robotizovanog spajanja krutih delova. 
Teorijska istraživanja su bazirana na sintezi prostora nule pripadajuće Jakobijanove matrice i njenog 
komplementarnog projektora primenom metode redukovane stepenaste forme linearnog preslikavanja. 
Simulacioni eksperimenti potvrdili su očekivanu konvergentnost, stabilnost i efikasno dejstvo predloženog 
komplementarnog projektora na svojstva generisane generalizovane krutosti. Fizičkim eksperimentom 
demonstrirana je eksperimentalna procedura za pobudu i merenje ostvarenog kinetostatičkog ponašanja. 
Praktična demonstracija ostvarena je na kinematski redundantnoj robotskoj ruci Yaskawa SIA 10F sa 
upravljačkom platformom otvorene arhitekture, baziranoj na FS100 upravljačkom sistemu i MotoPlus SDK 
razvojnom sistemu.
C3  - 42. JUPITER Konferencija, 44. simpozijum „Upravljanje proizvodnjom u industriji prerade metala“, Zbornik radova / 42nd JUPITER Conference, Proceedings, Beograd, oktobar 2020
T1  - Konceptualni aspekti krutosti nule konfiguracionog prostora relevantni za proces robotizovanog spajanja
EP  - 3.99
SP  - 3.94
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6390
ER  - 

@conference{
author = "Lukić, Nikola and Petrović, Petar and Matijašević, Lazar",
year = "2020",
abstract = "U radu su predstavljeni konceptualni aspekti upravljanja kretanja redundantne antropomorfne robotske ruke 
sa 7 stepeni slobode u konfiguracionom prostoru nule, sa ciljem postizanja svojstva generalizovane krutosti 
vrha robota koja su konzistentna sa osnovnim zahtevima procesa robotizovanog spajanja krutih delova. 
Teorijska istraživanja su bazirana na sintezi prostora nule pripadajuće Jakobijanove matrice i njenog 
komplementarnog projektora primenom metode redukovane stepenaste forme linearnog preslikavanja. 
Simulacioni eksperimenti potvrdili su očekivanu konvergentnost, stabilnost i efikasno dejstvo predloženog 
komplementarnog projektora na svojstva generisane generalizovane krutosti. Fizičkim eksperimentom 
demonstrirana je eksperimentalna procedura za pobudu i merenje ostvarenog kinetostatičkog ponašanja. 
Praktična demonstracija ostvarena je na kinematski redundantnoj robotskoj ruci Yaskawa SIA 10F sa 
upravljačkom platformom otvorene arhitekture, baziranoj na FS100 upravljačkom sistemu i MotoPlus SDK 
razvojnom sistemu.",
journal = "42. JUPITER Konferencija, 44. simpozijum „Upravljanje proizvodnjom u industriji prerade metala“, Zbornik radova / 42nd JUPITER Conference, Proceedings, Beograd, oktobar 2020",
title = "Konceptualni aspekti krutosti nule konfiguracionog prostora relevantni za proces robotizovanog spajanja",
pages = "3.99-3.94",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6390"
}

Lukić, N., Petrović, P.,& Matijašević, L.. (2020). Konceptualni aspekti krutosti nule konfiguracionog prostora relevantni za proces robotizovanog spajanja. in 42. JUPITER Konferencija, 44. simpozijum „Upravljanje proizvodnjom u industriji prerade metala“, Zbornik radova / 42nd JUPITER Conference, Proceedings, Beograd, oktobar 2020, 3.94-3.99.
https://hdl.handle.net/21.15107/rcub_machinery_6390

Lukić N, Petrović P, Matijašević L. Konceptualni aspekti krutosti nule konfiguracionog prostora relevantni za proces robotizovanog spajanja. in 42. JUPITER Konferencija, 44. simpozijum „Upravljanje proizvodnjom u industriji prerade metala“, Zbornik radova / 42nd JUPITER Conference, Proceedings, Beograd, oktobar 2020. 2020;:3.94-3.99.
https://hdl.handle.net/21.15107/rcub_machinery_6390 .

Lukić, Nikola, Petrović, Petar, Matijašević, Lazar, "Konceptualni aspekti krutosti nule konfiguracionog prostora relevantni za proces robotizovanog spajanja" in 42. JUPITER Konferencija, 44. simpozijum „Upravljanje proizvodnjom u industriji prerade metala“, Zbornik radova / 42nd JUPITER Conference, Proceedings, Beograd, oktobar 2020 (2020):3.94-3.99,
https://hdl.handle.net/21.15107/rcub_machinery_6390 .

TY  - CONF
AU  - Matijašević, Lazar
AU  - Petrović, Petar
AU  - Lukić, Nikola
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6391
AB  - Postojeći sistemi za automatsku montažu bazirani su na vrlo jednostavnim sistemima za hvatanje i 
manipulaciju objektima. Nova proizvodna paradigma kastomizovane montaže nameće potrebu za razvojem 
bitno fleksibilnijih rešenja, sa ugrađenim visokim stepenom fleksibilnosti, do tog nivoa da se u nekim 
aspektima približavaju tehnološkim sposobnostima same ljudske šake. Po pitanju mehaničke kompleksnosti, 
gabarita, upravljanja, i posebno cene, podaktuirani sistemi se izdvajaju kao dobar kompromis. U ovom radu 
je predstavljen konceptualni okvir za razvoj višeprstog podaktuiranog sistema za hvatanje i manipulaciju 
objektima – CMSysLab robotska šaka. Navodi se analiza kontaktnih sila, odnosno slika sila hvatanja 
podaktuiranog robotskog prsta sa fokusom na njihovu distribuciju na falange i uticaja na optimizaciju 
kinematske konfiguracije i konstrukcije prsta, kao i njegovog sistema aktuacije.
C3  - 42. JUPITER Konferencija, 44. simpozijum „Upravljanje proizvodnjom u industriji prerade metala“, Zbornik radova / 42nd JUPITER Conference, Proceedings, Beograd, oktobar 2020
T1  - Podaktuirani sistemi za robotsko hvatanje i manipulaciju objektima u tehnologiji robotske montaže – Razvoj CMSysLab robotske šake
EP  - 3.105
SP  - 3.100
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6391
ER  - 

@conference{
author = "Matijašević, Lazar and Petrović, Petar and Lukić, Nikola",
year = "2020",
abstract = "Postojeći sistemi za automatsku montažu bazirani su na vrlo jednostavnim sistemima za hvatanje i 
manipulaciju objektima. Nova proizvodna paradigma kastomizovane montaže nameće potrebu za razvojem 
bitno fleksibilnijih rešenja, sa ugrađenim visokim stepenom fleksibilnosti, do tog nivoa da se u nekim 
aspektima približavaju tehnološkim sposobnostima same ljudske šake. Po pitanju mehaničke kompleksnosti, 
gabarita, upravljanja, i posebno cene, podaktuirani sistemi se izdvajaju kao dobar kompromis. U ovom radu 
je predstavljen konceptualni okvir za razvoj višeprstog podaktuiranog sistema za hvatanje i manipulaciju 
objektima – CMSysLab robotska šaka. Navodi se analiza kontaktnih sila, odnosno slika sila hvatanja 
podaktuiranog robotskog prsta sa fokusom na njihovu distribuciju na falange i uticaja na optimizaciju 
kinematske konfiguracije i konstrukcije prsta, kao i njegovog sistema aktuacije.",
journal = "42. JUPITER Konferencija, 44. simpozijum „Upravljanje proizvodnjom u industriji prerade metala“, Zbornik radova / 42nd JUPITER Conference, Proceedings, Beograd, oktobar 2020",
title = "Podaktuirani sistemi za robotsko hvatanje i manipulaciju objektima u tehnologiji robotske montaže – Razvoj CMSysLab robotske šake",
pages = "3.105-3.100",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6391"
}

Matijašević, L., Petrović, P.,& Lukić, N.. (2020). Podaktuirani sistemi za robotsko hvatanje i manipulaciju objektima u tehnologiji robotske montaže – Razvoj CMSysLab robotske šake. in 42. JUPITER Konferencija, 44. simpozijum „Upravljanje proizvodnjom u industriji prerade metala“, Zbornik radova / 42nd JUPITER Conference, Proceedings, Beograd, oktobar 2020, 3.100-3.105.
https://hdl.handle.net/21.15107/rcub_machinery_6391

Matijašević L, Petrović P, Lukić N. Podaktuirani sistemi za robotsko hvatanje i manipulaciju objektima u tehnologiji robotske montaže – Razvoj CMSysLab robotske šake. in 42. JUPITER Konferencija, 44. simpozijum „Upravljanje proizvodnjom u industriji prerade metala“, Zbornik radova / 42nd JUPITER Conference, Proceedings, Beograd, oktobar 2020. 2020;:3.100-3.105.
https://hdl.handle.net/21.15107/rcub_machinery_6391 .

Matijašević, Lazar, Petrović, Petar, Lukić, Nikola, "Podaktuirani sistemi za robotsko hvatanje i manipulaciju objektima u tehnologiji robotske montaže – Razvoj CMSysLab robotske šake" in 42. JUPITER Konferencija, 44. simpozijum „Upravljanje proizvodnjom u industriji prerade metala“, Zbornik radova / 42nd JUPITER Conference, Proceedings, Beograd, oktobar 2020 (2020):3.100-3.105,
https://hdl.handle.net/21.15107/rcub_machinery_6391 .

TY  - CONF
AU  - Matijašević, Lazar
AU  - Petrović, Petar
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6218
AB  - When designing linkage driven underactuated 
robotic finger, many parameters needs to be satisfied in order to 
produce robust robotic hand capable of withstanding industrial 
environment and capable of fulfilling all needs of robotic 
assembly in terms of precision and dexterity. For this study, 
four-bar linkage mechanisms are used to drive underactuated 
robotic finger and design parameter that will be addressed is 
transmission performance. Optimization method used for 
obtaining length of links of four-bar mechanism, based on 
transmission performance is shown. Freundenstein’s analytic 
method for four-bar linkage function generation, is chosen, and 
calculated link lengths are to be used for acquiring parameter 
called transmission defect, parameter that is objective function 
to be minimized in this optimization process. Maximizing 
transmission performance, leads to increase of the transmitted 
torque from the actuated joints to the underactuated joints 
through transmission mechanism. This paper presents design 
and kinematic analysis of three degrees of freedom (3-DoF)
underactuated robotic finger with linkage driven mechanism for 
CMSysLab robotic hand.
C3  - 7th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2020), Proceedings, Belgrade, Čačak, Niš, Novi Sad, September 2020., 2020, ROI 1.2
T1  - Four-bar linkage mechanism optimization for linkage driven underactuated robotic finger
SP  - ROI 1.2
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6218
ER  - 

@conference{
author = "Matijašević, Lazar and Petrović, Petar",
year = "2020",
abstract = "When designing linkage driven underactuated 
robotic finger, many parameters needs to be satisfied in order to 
produce robust robotic hand capable of withstanding industrial 
environment and capable of fulfilling all needs of robotic 
assembly in terms of precision and dexterity. For this study, 
four-bar linkage mechanisms are used to drive underactuated 
robotic finger and design parameter that will be addressed is 
transmission performance. Optimization method used for 
obtaining length of links of four-bar mechanism, based on 
transmission performance is shown. Freundenstein’s analytic 
method for four-bar linkage function generation, is chosen, and 
calculated link lengths are to be used for acquiring parameter 
called transmission defect, parameter that is objective function 
to be minimized in this optimization process. Maximizing 
transmission performance, leads to increase of the transmitted 
torque from the actuated joints to the underactuated joints 
through transmission mechanism. This paper presents design 
and kinematic analysis of three degrees of freedom (3-DoF)
underactuated robotic finger with linkage driven mechanism for 
CMSysLab robotic hand.",
journal = "7th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2020), Proceedings, Belgrade, Čačak, Niš, Novi Sad, September 2020., 2020, ROI 1.2",
title = "Four-bar linkage mechanism optimization for linkage driven underactuated robotic finger",
pages = "ROI 1.2",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6218"
}

Matijašević, L.,& Petrović, P.. (2020). Four-bar linkage mechanism optimization for linkage driven underactuated robotic finger. in 7th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2020), Proceedings, Belgrade, Čačak, Niš, Novi Sad, September 2020., 2020, ROI 1.2, ROI 1.2.
https://hdl.handle.net/21.15107/rcub_machinery_6218

Matijašević L, Petrović P. Four-bar linkage mechanism optimization for linkage driven underactuated robotic finger. in 7th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2020), Proceedings, Belgrade, Čačak, Niš, Novi Sad, September 2020., 2020, ROI 1.2. 2020;:ROI 1.2.
https://hdl.handle.net/21.15107/rcub_machinery_6218 .

Matijašević, Lazar, Petrović, Petar, "Four-bar linkage mechanism optimization for linkage driven underactuated robotic finger" in 7th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2020), Proceedings, Belgrade, Čačak, Niš, Novi Sad, September 2020., 2020, ROI 1.2 (2020):ROI 1.2,
https://hdl.handle.net/21.15107/rcub_machinery_6218 .

TY  - CONF
AU  - Stojadinović, Slavenko
AU  - Majstorović, Vidosav D.
AU  - Djurdjanović, Dragan
AU  - Živković, Saša
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3451
AB  - The framework for smart manufacturing metrology model (S3M), are based on integration of digital product metrology information through metrological identification, application artificial intelligence techniques and generation of global/local inspection plan for coordinate measuring machine (CMM). S3M has an extremely expressed requirement for better control, monitoring and data mining. Limitations still exist in data storages, networks and computers, as well as in the tools for complex data analysis, detection of its structure and retrieval of useful information. This paper will present recent results of our research on building of S3M as support Industry 4.0. Presented approach to S3M development includes four levels: (i) mathematical model of the measuring sensor path, which establishes a connection between the coordinate systems; (ii) generating the needed set of information to integrate the given tolerances and geometry of the parts by applying an ontological knowledge base; (iii) the application of AI techniques such as ACO and GA to optimize the measurement path, numbers of measuring part setup and configuration of the measuring probes; (iv) simulation of measurement path for a collision check. After simulation of the measurement path and visual checks of collisions, the path sequences are generated in the control data list for appropriate CMM. The experiment was successfully carried out on the examples of prismatic part and two turbine blades or its free-form measuring surfaces.
PB  - Springer Science and Business Media Deutschland GmbH
C3  - Lecture Notes in Mechanical Engineering
T1  - An approach of development smart manufacturing metrology model as support industry 4.0
EP  - 204
SP  - 190
DO  - 10.1007/978-3-030-46212-3_13
ER  - 

@conference{
author = "Stojadinović, Slavenko and Majstorović, Vidosav D. and Djurdjanović, Dragan and Živković, Saša",
year = "2020",
abstract = "The framework for smart manufacturing metrology model (S3M), are based on integration of digital product metrology information through metrological identification, application artificial intelligence techniques and generation of global/local inspection plan for coordinate measuring machine (CMM). S3M has an extremely expressed requirement for better control, monitoring and data mining. Limitations still exist in data storages, networks and computers, as well as in the tools for complex data analysis, detection of its structure and retrieval of useful information. This paper will present recent results of our research on building of S3M as support Industry 4.0. Presented approach to S3M development includes four levels: (i) mathematical model of the measuring sensor path, which establishes a connection between the coordinate systems; (ii) generating the needed set of information to integrate the given tolerances and geometry of the parts by applying an ontological knowledge base; (iii) the application of AI techniques such as ACO and GA to optimize the measurement path, numbers of measuring part setup and configuration of the measuring probes; (iv) simulation of measurement path for a collision check. After simulation of the measurement path and visual checks of collisions, the path sequences are generated in the control data list for appropriate CMM. The experiment was successfully carried out on the examples of prismatic part and two turbine blades or its free-form measuring surfaces.",
publisher = "Springer Science and Business Media Deutschland GmbH",
journal = "Lecture Notes in Mechanical Engineering",
title = "An approach of development smart manufacturing metrology model as support industry 4.0",
pages = "204-190",
doi = "10.1007/978-3-030-46212-3_13"
}

Stojadinović, S., Majstorović, V. D., Djurdjanović, D.,& Živković, S.. (2020). An approach of development smart manufacturing metrology model as support industry 4.0. in Lecture Notes in Mechanical Engineering
Springer Science and Business Media Deutschland GmbH., 190-204.
https://doi.org/10.1007/978-3-030-46212-3_13

Stojadinović S, Majstorović VD, Djurdjanović D, Živković S. An approach of development smart manufacturing metrology model as support industry 4.0. in Lecture Notes in Mechanical Engineering. 2020;:190-204.
doi:10.1007/978-3-030-46212-3_13 .

Stojadinović, Slavenko, Majstorović, Vidosav D., Djurdjanović, Dragan, Živković, Saša, "An approach of development smart manufacturing metrology model as support industry 4.0" in Lecture Notes in Mechanical Engineering (2020):190-204,
https://doi.org/10.1007/978-3-030-46212-3_13 . .

TY  - CHAP
AU  - Majstorović, Vidosav
AU  - Stojadinović, Slavenko
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5915
AB  - Cloud-based technology (CBT) has experienced intensive growth over the past decade, primarily thanks to the development of the Internet of things (IoT), as well as of the concept of Industry 4.0 (I4.0). At the moment, this growth is accelerating due to the expansion of the domain of this technology application – smart factory, smart cities, smart grid – tending to smart everything. Therefore, it can be stated that I4.0 represents both smart networking of machines, humans, processes, and things in manufacturing, on the basis of CBT. This chapter considers the basic elements of cloud computing, with special reference to cloud manufacturing (CM) in the context of I4.0.
PB  - CRC Press Teylor & Francis Group
T2  - Enabling Technologies for the Successful Deployment of Industry 4.0
T1  - Cloud Computing Virtualization, Simulation and Cyber security - Cloud Manufacturing Issue
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5915
ER  - 

@inbook{
author = "Majstorović, Vidosav and Stojadinović, Slavenko",
year = "2020",
abstract = "Cloud-based technology (CBT) has experienced intensive growth over the past decade, primarily thanks to the development of the Internet of things (IoT), as well as of the concept of Industry 4.0 (I4.0). At the moment, this growth is accelerating due to the expansion of the domain of this technology application – smart factory, smart cities, smart grid – tending to smart everything. Therefore, it can be stated that I4.0 represents both smart networking of machines, humans, processes, and things in manufacturing, on the basis of CBT. This chapter considers the basic elements of cloud computing, with special reference to cloud manufacturing (CM) in the context of I4.0.",
publisher = "CRC Press Teylor & Francis Group",
journal = "Enabling Technologies for the Successful Deployment of Industry 4.0",
booktitle = "Cloud Computing Virtualization, Simulation and Cyber security - Cloud Manufacturing Issue",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5915"
}

Majstorović, V.,& Stojadinović, S.. (2020). Cloud Computing Virtualization, Simulation and Cyber security - Cloud Manufacturing Issue. in Enabling Technologies for the Successful Deployment of Industry 4.0
CRC Press Teylor & Francis Group..
https://hdl.handle.net/21.15107/rcub_machinery_5915

Majstorović V, Stojadinović S. Cloud Computing Virtualization, Simulation and Cyber security - Cloud Manufacturing Issue. in Enabling Technologies for the Successful Deployment of Industry 4.0. 2020;.
https://hdl.handle.net/21.15107/rcub_machinery_5915 .

Majstorović, Vidosav, Stojadinović, Slavenko, "Cloud Computing Virtualization, Simulation and Cyber security - Cloud Manufacturing Issue" in Enabling Technologies for the Successful Deployment of Industry 4.0 (2020),
https://hdl.handle.net/21.15107/rcub_machinery_5915 .

TY  - JOUR
AU  - Lukić, Nikola
AU  - Petrović, Petar
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3007
AB  - Purpose Stiffness control of redundant robot arm, aimed at using extra degrees of freedom (DoF) to shape the robot tool center point (TCP) elastomechanical behavior to be consistent with the essential requirements needed for a successful part mating process, i.e., to mimic part supporting mechanism with selective quasi-isotropic compliance (Remote Center of Compliance - RCC), with additional properties of inherent flexibility. Design/methodology/approach Theoretical analysis and synthesis of the complementary projector for null-space stiffness control of kinematically redundant robot arm. Practical feasibility of the proposed approach was proven by extensive computer simulations and physical experiments, based on commercially available 7 DoF SIA 10 F Yaskawa articulated robot arm, equipped with the open-architecture control system, system for generating excitation force, dedicated sensory system for displacement measurement and a system for real-time acquisition of sensory data. Findings Simulation experiments demonstrated convergence and stability of the proposed complementary projector. Physical experiments demonstrated that the proposed complementary projector can be implemented on the commercially available anthropomorphic redundant arm upgraded with open-architecture control system and that this projector has the capacity to efficiently affect the task-space TCP stiffness of the robot arm, with a satisfactory degree of consistency with the behavior obtained in the simulation experiments. Originality/value A novel complementary projector was synthesized based on the adopted objective function. Practical verification was conducted using computer simulations and physical experiments. For the needs of physical experiments, an adequate open-architecture control system was developed and upgraded through the implementation of the proposed complementary projector and an adequate system for generating excitation and measuring displacement of the robot TCP. Experiments demonstrated that the proposed complementary projector for null-space stiffness control is capable of producing the task-space TCP stiffness, which can satisfy the essential requirements needed for a successful part-mating process, thus allowing the redundant robot arm to mimic the RCC supporting mechanism behavior in a programmable manner.
PB  - Emerald Group Publishing Ltd, Bingley
T2  - Assembly Automation
T1  - Complementary projector for null-space stiffness control of redundant assembly robot arm
EP  - 714
IS  - 4
SP  - 696
VL  - 39
DO  - 10.1108/AA-10-2018-0163
ER  - 

@article{
author = "Lukić, Nikola and Petrović, Petar",
year = "2019",
abstract = "Purpose Stiffness control of redundant robot arm, aimed at using extra degrees of freedom (DoF) to shape the robot tool center point (TCP) elastomechanical behavior to be consistent with the essential requirements needed for a successful part mating process, i.e., to mimic part supporting mechanism with selective quasi-isotropic compliance (Remote Center of Compliance - RCC), with additional properties of inherent flexibility. Design/methodology/approach Theoretical analysis and synthesis of the complementary projector for null-space stiffness control of kinematically redundant robot arm. Practical feasibility of the proposed approach was proven by extensive computer simulations and physical experiments, based on commercially available 7 DoF SIA 10 F Yaskawa articulated robot arm, equipped with the open-architecture control system, system for generating excitation force, dedicated sensory system for displacement measurement and a system for real-time acquisition of sensory data. Findings Simulation experiments demonstrated convergence and stability of the proposed complementary projector. Physical experiments demonstrated that the proposed complementary projector can be implemented on the commercially available anthropomorphic redundant arm upgraded with open-architecture control system and that this projector has the capacity to efficiently affect the task-space TCP stiffness of the robot arm, with a satisfactory degree of consistency with the behavior obtained in the simulation experiments. Originality/value A novel complementary projector was synthesized based on the adopted objective function. Practical verification was conducted using computer simulations and physical experiments. For the needs of physical experiments, an adequate open-architecture control system was developed and upgraded through the implementation of the proposed complementary projector and an adequate system for generating excitation and measuring displacement of the robot TCP. Experiments demonstrated that the proposed complementary projector for null-space stiffness control is capable of producing the task-space TCP stiffness, which can satisfy the essential requirements needed for a successful part-mating process, thus allowing the redundant robot arm to mimic the RCC supporting mechanism behavior in a programmable manner.",
publisher = "Emerald Group Publishing Ltd, Bingley",
journal = "Assembly Automation",
title = "Complementary projector for null-space stiffness control of redundant assembly robot arm",
pages = "714-696",
number = "4",
volume = "39",
doi = "10.1108/AA-10-2018-0163"
}

Lukić, N.,& Petrović, P.. (2019). Complementary projector for null-space stiffness control of redundant assembly robot arm. in Assembly Automation
Emerald Group Publishing Ltd, Bingley., 39(4), 696-714.
https://doi.org/10.1108/AA-10-2018-0163

Lukić N, Petrović P. Complementary projector for null-space stiffness control of redundant assembly robot arm. in Assembly Automation. 2019;39(4):696-714.
doi:10.1108/AA-10-2018-0163 .

Lukić, Nikola, Petrović, Petar, "Complementary projector for null-space stiffness control of redundant assembly robot arm" in Assembly Automation, 39, no. 4 (2019):696-714,
https://doi.org/10.1108/AA-10-2018-0163 . .

TY  - CONF
AU  - Matijašević, Lazar
AU  - Petrović, Petar
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6210
AB  - At present-day manufacturing and assembly lines, 
fairly simple mechanism grippers are used. On the other hand, 
growing demand for customized products that are mass 
produced, require flexible, multipurpose grippers that are 
capable of grasping complex objects of different sizes and 
shapes. In order for robotic hand to be industry acceptable it 
needs to be robust, easy to control and most importantly it 
needs to be affordable price-wise. With that in mind concept of 
multifingered underactuated robotic hand appears as a good 
candidate to be optimal, general purpose solution. 
Underactuation as a concept allows robotic hands to grip 
arbitrary shaped objects without the need for complex control 
and sensory systems. Also, with less actuators than degrees of 
freedom multifingered underactuated robotic hand is more 
affordable and from robot arm carrying capacity standpoint, 
actuators with less weight allows robotic systems to move faster 
or to carry heavier loads. For this research linkage driven 
underactuated mechanisms are chosen because of their rigidity 
and that trait makes control system more reliable and easier to 
make thus making whole robotic system more robust and 
reliable. This paper presents some aspects of design and 
grasping force analysis of three degrees of freedom (3-DoF) 
underactuated robotic finger with linkage driven mechanism 
for CMSysLab Robotic Hand.
C3  - 6th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2019), Proceedings, Silver Lake, June  2019., 2019, 730-735
T1  - Underactuated Finger Design for Flexible Grasping in Robotic Assembly
EP  - 735
SP  - 730
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6210
ER  - 

@conference{
author = "Matijašević, Lazar and Petrović, Petar",
year = "2019",
abstract = "At present-day manufacturing and assembly lines, 
fairly simple mechanism grippers are used. On the other hand, 
growing demand for customized products that are mass 
produced, require flexible, multipurpose grippers that are 
capable of grasping complex objects of different sizes and 
shapes. In order for robotic hand to be industry acceptable it 
needs to be robust, easy to control and most importantly it 
needs to be affordable price-wise. With that in mind concept of 
multifingered underactuated robotic hand appears as a good 
candidate to be optimal, general purpose solution. 
Underactuation as a concept allows robotic hands to grip 
arbitrary shaped objects without the need for complex control 
and sensory systems. Also, with less actuators than degrees of 
freedom multifingered underactuated robotic hand is more 
affordable and from robot arm carrying capacity standpoint, 
actuators with less weight allows robotic systems to move faster 
or to carry heavier loads. For this research linkage driven 
underactuated mechanisms are chosen because of their rigidity 
and that trait makes control system more reliable and easier to 
make thus making whole robotic system more robust and 
reliable. This paper presents some aspects of design and 
grasping force analysis of three degrees of freedom (3-DoF) 
underactuated robotic finger with linkage driven mechanism 
for CMSysLab Robotic Hand.",
journal = "6th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2019), Proceedings, Silver Lake, June  2019., 2019, 730-735",
title = "Underactuated Finger Design for Flexible Grasping in Robotic Assembly",
pages = "735-730",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6210"
}

Matijašević, L.,& Petrović, P.. (2019). Underactuated Finger Design for Flexible Grasping in Robotic Assembly. in 6th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2019), Proceedings, Silver Lake, June  2019., 2019, 730-735, 730-735.
https://hdl.handle.net/21.15107/rcub_machinery_6210

Matijašević L, Petrović P. Underactuated Finger Design for Flexible Grasping in Robotic Assembly. in 6th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2019), Proceedings, Silver Lake, June  2019., 2019, 730-735. 2019;:730-735.
https://hdl.handle.net/21.15107/rcub_machinery_6210 .

Matijašević, Lazar, Petrović, Petar, "Underactuated Finger Design for Flexible Grasping in Robotic Assembly" in 6th International Conference on Electrical, Electronic and Computing Engineering (IcETRAN 2019), Proceedings, Silver Lake, June  2019., 2019, 730-735 (2019):730-735,
https://hdl.handle.net/21.15107/rcub_machinery_6210 .

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  - Matijašević, Lazar
AU  - Milivojević, Miloš
AU  - Petrović, Petar
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6185
AB  - New production paradigm of mass customization imposes the development of flexible gripping systems with exceptional dexterity, capable of mimicking grasping behavior of human hands. In this context, the most demanding technical challenges are: motoric capabilities and related design aspects, overall weight and size, and tactile and other perceptual capabilities. Also, to make the gripper industry acceptable, it should be in affordable price range. Having all that in mind, concept of the multifingered under-actuated hand appears as good candidate to be an optimal, general purpose solution. This paper presents the general conceptual framework for development of multifingered hands which are based on under-actuation principle.
C3  - Proceedings of the 13th International Scientific Conference MMA 2018 - Flexible Technologies, Novi Sad, september 2018, 2018, 91-94
T1  - Multifingered under-actuated hands in robotic assembly
EP  - 94
SP  - 91
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6185
ER  - 

@conference{
author = "Matijašević, Lazar and Milivojević, Miloš and Petrović, Petar",
year = "2018",
abstract = "New production paradigm of mass customization imposes the development of flexible gripping systems with exceptional dexterity, capable of mimicking grasping behavior of human hands. In this context, the most demanding technical challenges are: motoric capabilities and related design aspects, overall weight and size, and tactile and other perceptual capabilities. Also, to make the gripper industry acceptable, it should be in affordable price range. Having all that in mind, concept of the multifingered under-actuated hand appears as good candidate to be an optimal, general purpose solution. This paper presents the general conceptual framework for development of multifingered hands which are based on under-actuation principle.",
journal = "Proceedings of the 13th International Scientific Conference MMA 2018 - Flexible Technologies, Novi Sad, september 2018, 2018, 91-94",
title = "Multifingered under-actuated hands in robotic assembly",
pages = "94-91",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6185"
}

Matijašević, L., Milivojević, M.,& Petrović, P.. (2018). Multifingered under-actuated hands in robotic assembly. in Proceedings of the 13th International Scientific Conference MMA 2018 - Flexible Technologies, Novi Sad, september 2018, 2018, 91-94, 91-94.
https://hdl.handle.net/21.15107/rcub_machinery_6185

Matijašević L, Milivojević M, Petrović P. Multifingered under-actuated hands in robotic assembly. in Proceedings of the 13th International Scientific Conference MMA 2018 - Flexible Technologies, Novi Sad, september 2018, 2018, 91-94. 2018;:91-94.
https://hdl.handle.net/21.15107/rcub_machinery_6185 .

Matijašević, Lazar, Milivojević, Miloš, Petrović, Petar, "Multifingered under-actuated hands in robotic assembly" in Proceedings of the 13th International Scientific Conference MMA 2018 - Flexible Technologies, Novi Sad, september 2018, 2018, 91-94 (2018):91-94,
https://hdl.handle.net/21.15107/rcub_machinery_6185 .

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

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

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

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

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

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

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

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

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

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

TY  - 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
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2606
AB  - Kada je popustljivost vrha robota dominantno određena popustljivošću njegovih zglobova, generalizovana matrica krutosti robota može se preslikati iz prostora radnog zadatka u prostor unutrašnjih koordinata robota primenom kongruentne transformacije. Generisana na ovaj način, matrica krutosti u unutrašnjim koordinatama je u opštem slučaju nedijagonalna. Nedijagonalni elementi se mogu generisati samo redundantnom aktuacijom (poliartikulacioni aktuatori). Mada je ova vrsta aktuatora široko rasprostranjena kod bioloških sistema, njena praktična primena kod robota i sličnih veštačkih sistema je ekstremno problematična. Da bi se prevazišao ovaj problem, predlaže se rešenje bazirano na kinematskoj redundansi. 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 (CSC) za slučaj kinetosatičke konzistentnosti, primenom projekcije gradijenta optimizacione funkcije koja minimizira Euklidovu normu nedijagonalnih elemenata matrice krutosti robota izražene u unutrašnjim koordinatama.
AB  - When the robot endpoint compliance is dominantly influenced by the flexibility of its joints, the robot taskspace generalized stiffness matrix can be mapped onto jointspace using appropriate congruence transformation. Thus produced, the jointspace stiffness matrix is generally nondiagonal. Off-diagonal elements can be generated by redundant actuation only (polyarticular actuators). Although this kind of actuation is widely present in biological systems, its practical implementation in engineering systems is very difficult. To overcome this problem, use of kinematic redundancy is proposed. 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.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Upravljanje popustljivosti kinematski redundantne robotske ruke promenom konfiguracije - deo I - teorijska postavka
T1  - Configuration-based compliance control of kinematically redundant robot arm Part I: Theoretical framework
EP  - 474
IS  - 4
SP  - 468
VL  - 45
DO  - 10.5937/fmet1704468P
ER  - 

@article{
author = "Petrović, Petar and Lukić, Nikola",
year = "2017",
abstract = "Kada je popustljivost vrha robota dominantno određena popustljivošću njegovih zglobova, generalizovana matrica krutosti robota može se preslikati iz prostora radnog zadatka u prostor unutrašnjih koordinata robota primenom kongruentne transformacije. Generisana na ovaj način, matrica krutosti u unutrašnjim koordinatama je u opštem slučaju nedijagonalna. Nedijagonalni elementi se mogu generisati samo redundantnom aktuacijom (poliartikulacioni aktuatori). Mada je ova vrsta aktuatora široko rasprostranjena kod bioloških sistema, njena praktična primena kod robota i sličnih veštačkih sistema je ekstremno problematična. Da bi se prevazišao ovaj problem, predlaže se rešenje bazirano na kinematskoj redundansi. 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 (CSC) za slučaj kinetosatičke konzistentnosti, primenom projekcije gradijenta optimizacione funkcije koja minimizira Euklidovu normu nedijagonalnih elemenata matrice krutosti robota izražene u unutrašnjim koordinatama., When the robot endpoint compliance is dominantly influenced by the flexibility of its joints, the robot taskspace generalized stiffness matrix can be mapped onto jointspace using appropriate congruence transformation. Thus produced, the jointspace stiffness matrix is generally nondiagonal. Off-diagonal elements can be generated by redundant actuation only (polyarticular actuators). Although this kind of actuation is widely present in biological systems, its practical implementation in engineering systems is very difficult. To overcome this problem, use of kinematic redundancy is proposed. 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.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Upravljanje popustljivosti kinematski redundantne robotske ruke promenom konfiguracije - deo I - teorijska postavka, Configuration-based compliance control of kinematically redundant robot arm Part I: Theoretical framework",
pages = "474-468",
number = "4",
volume = "45",
doi = "10.5937/fmet1704468P"
}

Petrović, P.,& Lukić, N.. (2017). Upravljanje popustljivosti kinematski redundantne robotske ruke promenom konfiguracije - deo I - teorijska postavka. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 45(4), 468-474.
https://doi.org/10.5937/fmet1704468P

Petrović P, Lukić N. Upravljanje popustljivosti kinematski redundantne robotske ruke promenom konfiguracije - deo I - teorijska postavka. in FME Transactions. 2017;45(4):468-474.
doi:10.5937/fmet1704468P .

Petrović, Petar, Lukić, Nikola, "Upravljanje popustljivosti kinematski redundantne robotske ruke promenom konfiguracije - deo I - teorijska postavka" in FME Transactions, 45, no. 4 (2017):468-474,
https://doi.org/10.5937/fmet1704468P . .

TY  - JOUR
AU  - Jakovljević, Živana
AU  - Marković, Veljko
AU  - Živanović, Saša
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5082
AB  - This paper presents a method for recognition of second order surfaces (quadrics) from point clouds containing information about scanned rotational parts. The method is region growing method that exploits the scatter of data during least squares fitting of quadrics as a region growing criterion. The presented procedure is convenient for segmentation of regions with high (G1 or higher) continuity. Besides, the region seed point is automatically selected which is its comparative advantage to a number of existing methods. The applicability of the proposed method is evaluated using two case studies; the first case study refers to a synthesized signal, and the second presents the applicability of the method on a real world example.
PB  - Faculty of Technical Sciences, Department of Production Engineering
T2  - Journal of Production Engineering
T1  - Recognition of quadrics from 3d point clouds generated by scanning of rotational parts
EP  - 68
IS  - 1
SP  - 65
VL  - 19
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5082
ER  - 

@article{
author = "Jakovljević, Živana and Marković, Veljko and Živanović, Saša",
year = "2016",
abstract = "This paper presents a method for recognition of second order surfaces (quadrics) from point clouds containing information about scanned rotational parts. The method is region growing method that exploits the scatter of data during least squares fitting of quadrics as a region growing criterion. The presented procedure is convenient for segmentation of regions with high (G1 or higher) continuity. Besides, the region seed point is automatically selected which is its comparative advantage to a number of existing methods. The applicability of the proposed method is evaluated using two case studies; the first case study refers to a synthesized signal, and the second presents the applicability of the method on a real world example.",
publisher = "Faculty of Technical Sciences, Department of Production Engineering",
journal = "Journal of Production Engineering",
title = "Recognition of quadrics from 3d point clouds generated by scanning of rotational parts",
pages = "68-65",
number = "1",
volume = "19",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5082"
}

Jakovljević, Ž., Marković, V.,& Živanović, S.. (2016). Recognition of quadrics from 3d point clouds generated by scanning of rotational parts. in Journal of Production Engineering
Faculty of Technical Sciences, Department of Production Engineering., 19(1), 65-68.
https://hdl.handle.net/21.15107/rcub_machinery_5082

Jakovljević Ž, Marković V, Živanović S. Recognition of quadrics from 3d point clouds generated by scanning of rotational parts. in Journal of Production Engineering. 2016;19(1):65-68.
https://hdl.handle.net/21.15107/rcub_machinery_5082 .

Jakovljević, Živana, Marković, Veljko, Živanović, Saša, "Recognition of quadrics from 3d point clouds generated by scanning of rotational parts" in Journal of Production Engineering, 19, no. 1 (2016):65-68,
https://hdl.handle.net/21.15107/rcub_machinery_5082 .

TY  - JOUR
AU  - Stojadinović, Slavenko
AU  - Majstorović, Vidosav
AU  - Durakbasa, Numan
AU  - Šibalija, Tatjana
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6126
AB  - This paper presents optimisation of a measuring probe path in inspecting the prismatic parts on a CMM. The optimisation model is based on: (i) the mathematical model that stablishes an initial collision-free path presented by a set of points, and (ii) the olution of Travelling Salesman Problem (TSP) obtained with Ant Colony Optimisation ACO). In order to solve TSP, an ACO algorithm that aims to find the shortest path of ant colony movement (i.e. the optimised path) is applied. Then, the optimised path is compared with the measuring path obtained with online programming on CMM ZEISS UMM500 and with the measuring path obtained in the CMM inspection module of Pro/ENGINEER® oftware. The results of comparing the optimised path with the other two generated paths show that the optimised path is at least 20% shorter than the path obtained by on-line programming on CMM ZEISS UMM500, and at least 10% shorter than the path obtained by using the CMM module in Pro/ENGINEER®.
T2  - Metrology and Measurement Systems
T1  - Ants Colony Optimization of the Measuring Path of Prismatic Parts on a CMM
IS  - 1
VL  - 23
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6126
ER  - 

@article{
author = "Stojadinović, Slavenko and Majstorović, Vidosav and Durakbasa, Numan and Šibalija, Tatjana",
year = "2016",
abstract = "This paper presents optimisation of a measuring probe path in inspecting the prismatic parts on a CMM. The optimisation model is based on: (i) the mathematical model that stablishes an initial collision-free path presented by a set of points, and (ii) the olution of Travelling Salesman Problem (TSP) obtained with Ant Colony Optimisation ACO). In order to solve TSP, an ACO algorithm that aims to find the shortest path of ant colony movement (i.e. the optimised path) is applied. Then, the optimised path is compared with the measuring path obtained with online programming on CMM ZEISS UMM500 and with the measuring path obtained in the CMM inspection module of Pro/ENGINEER® oftware. The results of comparing the optimised path with the other two generated paths show that the optimised path is at least 20% shorter than the path obtained by on-line programming on CMM ZEISS UMM500, and at least 10% shorter than the path obtained by using the CMM module in Pro/ENGINEER®.",
journal = "Metrology and Measurement Systems",
title = "Ants Colony Optimization of the Measuring Path of Prismatic Parts on a CMM",
number = "1",
volume = "23",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6126"
}

Stojadinović, S., Majstorović, V., Durakbasa, N.,& Šibalija, T.. (2016). Ants Colony Optimization of the Measuring Path of Prismatic Parts on a CMM. in Metrology and Measurement Systems, 23(1).
https://hdl.handle.net/21.15107/rcub_machinery_6126

Stojadinović S, Majstorović V, Durakbasa N, Šibalija T. Ants Colony Optimization of the Measuring Path of Prismatic Parts on a CMM. in Metrology and Measurement Systems. 2016;23(1).
https://hdl.handle.net/21.15107/rcub_machinery_6126 .

Stojadinović, Slavenko, Majstorović, Vidosav, Durakbasa, Numan, Šibalija, Tatjana, "Ants Colony Optimization of the Measuring Path of Prismatic Parts on a CMM" in Metrology and Measurement Systems, 23, no. 1 (2016),
https://hdl.handle.net/21.15107/rcub_machinery_6126 .

TY  - CONF
AU  - Jakovljević, Živana
AU  - Marković, Veljko
AU  - Puzović, Radovan
AU  - Majstorović, Vidosav D.
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2388
AB  - Within cyber physical production systems 3D vision as a source of information from real-world provides enormous possibilities. While the hardware of contemporary 3D scanners is characterized by high speed along with high resolution and accuracy, there is a lack of real-time online data processing algorithms that would give certain elements of intelligence to the sensory system. Critical elements of data processing software are efficient, real-time applicable methods for fully automatic recognition of high level geometric primitives from point cloud (surface segmentation and fitting). This paper presents a method for recognition of one class of quadrics from 3D point clouds, in particular for recognition of cylinders, elliptical cylinders and ellipsoids. The method is based on the properties of scatter matrix during direct least squares fitting of ellipsoids. Presented recognition procedure can be employed for segmentation of regions with G1 or higher continuity, and this is its comparative advantage to similar methods. The applicability of the method is illustrated and experimentally verified using two case studies. First case study refers to a synthesized, and the second to a real-world scanned point cloud.
PB  - Elsevier B.V.
C3  - Procedia CIRP - 49th CIRP Conference on Manufacturing Systems (CIRP-CMS 2016)
T1  - Recognition of one class of quadrics from 3D point clouds
EP  - 297
SP  - 292
VL  - 57
DO  - 10.1016/j.procir.2016.11.051
ER  - 

@conference{
author = "Jakovljević, Živana and Marković, Veljko and Puzović, Radovan and Majstorović, Vidosav D.",
year = "2016",
abstract = "Within cyber physical production systems 3D vision as a source of information from real-world provides enormous possibilities. While the hardware of contemporary 3D scanners is characterized by high speed along with high resolution and accuracy, there is a lack of real-time online data processing algorithms that would give certain elements of intelligence to the sensory system. Critical elements of data processing software are efficient, real-time applicable methods for fully automatic recognition of high level geometric primitives from point cloud (surface segmentation and fitting). This paper presents a method for recognition of one class of quadrics from 3D point clouds, in particular for recognition of cylinders, elliptical cylinders and ellipsoids. The method is based on the properties of scatter matrix during direct least squares fitting of ellipsoids. Presented recognition procedure can be employed for segmentation of regions with G1 or higher continuity, and this is its comparative advantage to similar methods. The applicability of the method is illustrated and experimentally verified using two case studies. First case study refers to a synthesized, and the second to a real-world scanned point cloud.",
publisher = "Elsevier B.V.",
journal = "Procedia CIRP - 49th CIRP Conference on Manufacturing Systems (CIRP-CMS 2016)",
title = "Recognition of one class of quadrics from 3D point clouds",
pages = "297-292",
volume = "57",
doi = "10.1016/j.procir.2016.11.051"
}

Jakovljević, Ž., Marković, V., Puzović, R.,& Majstorović, V. D.. (2016). Recognition of one class of quadrics from 3D point clouds. in Procedia CIRP - 49th CIRP Conference on Manufacturing Systems (CIRP-CMS 2016)
Elsevier B.V.., 57, 292-297.
https://doi.org/10.1016/j.procir.2016.11.051

Jakovljević Ž, Marković V, Puzović R, Majstorović VD. Recognition of one class of quadrics from 3D point clouds. in Procedia CIRP - 49th CIRP Conference on Manufacturing Systems (CIRP-CMS 2016). 2016;57:292-297.
doi:10.1016/j.procir.2016.11.051 .

Jakovljević, Živana, Marković, Veljko, Puzović, Radovan, Majstorović, Vidosav D., "Recognition of one class of quadrics from 3D point clouds" in Procedia CIRP - 49th CIRP Conference on Manufacturing Systems (CIRP-CMS 2016), 57 (2016):292-297,
https://doi.org/10.1016/j.procir.2016.11.051 . .

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  - Jakovljević, Živana
AU  - Marković, Veljko
AU  - Živanović, Saša
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5078
AB  - This paper presents a method for recognition of second order surfaces (quadrics) from point clouds containing information about scanned rotational parts. The method is region growing method that exploits the scatter of data during least squares fitting of quadrics as a region growing criterion. The presented procedure is convenient for segmentation of regions with high (G1 or higher) continuity. Besides, the region seed point is automatically selected which is its comparative advantage to a number of existing methods. The applicability of the proposed method is evaluated using two case studies; the first case study refers to a synthesized signal, and the second presents the applicability of the method on a real world example.
PB  - Faculty of Technical Sciences, Department of Production Engineering
C3  - Proceedings of 12th International Scientific Conference mma 2015 - Advanced Production Technologies
T1  - Recognition of quadrics from 3d point clouds generated by scanning of rotational parts
EP  - 148
SP  - 145
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5078
ER  - 

@conference{
author = "Jakovljević, Živana and Marković, Veljko and Živanović, Saša",
year = "2015",
abstract = "This paper presents a method for recognition of second order surfaces (quadrics) from point clouds containing information about scanned rotational parts. The method is region growing method that exploits the scatter of data during least squares fitting of quadrics as a region growing criterion. The presented procedure is convenient for segmentation of regions with high (G1 or higher) continuity. Besides, the region seed point is automatically selected which is its comparative advantage to a number of existing methods. The applicability of the proposed method is evaluated using two case studies; the first case study refers to a synthesized signal, and the second presents the applicability of the method on a real world example.",
publisher = "Faculty of Technical Sciences, Department of Production Engineering",
journal = "Proceedings of 12th International Scientific Conference mma 2015 - Advanced Production Technologies",
title = "Recognition of quadrics from 3d point clouds generated by scanning of rotational parts",
pages = "148-145",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5078"
}

Jakovljević, Ž., Marković, V.,& Živanović, S.. (2015). Recognition of quadrics from 3d point clouds generated by scanning of rotational parts. in Proceedings of 12th International Scientific Conference mma 2015 - Advanced Production Technologies
Faculty of Technical Sciences, Department of Production Engineering., 145-148.
https://hdl.handle.net/21.15107/rcub_machinery_5078

Jakovljević Ž, Marković V, Živanović S. Recognition of quadrics from 3d point clouds generated by scanning of rotational parts. in Proceedings of 12th International Scientific Conference mma 2015 - Advanced Production Technologies. 2015;:145-148.
https://hdl.handle.net/21.15107/rcub_machinery_5078 .

Jakovljević, Živana, Marković, Veljko, Živanović, Saša, "Recognition of quadrics from 3d point clouds generated by scanning of rotational parts" in Proceedings of 12th International Scientific Conference mma 2015 - Advanced Production Technologies (2015):145-148,
https://hdl.handle.net/21.15107/rcub_machinery_5078 .

TY  - CONF
AU  - Jakovljević, Živana
AU  - Marković, Veljko
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5178
AB  - Critical elements of the state of the art three-dimensional (3D) point cloud processing software are the algorithms for retrieval of high level geometric primitives from raw data. This paper presents a method for recognition of a class of quadric surfaces, in particular for recognition of cylinders, elliptical cylinders, and ellipsoids from 3D point clouds. The method is based on direct least squares fitting of ellipsoids, and it exploits the closeness of scatter matrix to singular in the case when data are sampled for an approximate ellipsoid. This method belongs to the class of region growing methods, and the region is expanded using region growing strategy that is also proposed in this paper. Presented recognition procedure is suitable for segmentation of regions with G1 or higher continuality, and this is its advantage when compared to similar methods. Besides, recognition of quadric surfaces can be performed on unstructured, as well as on structured point clouds. The applicability of the method is illustrated and experimentally verified using two examples that contain G1 continuous surfaces from the considered class. The first example represents synthesized, and the second real-world scanned point cloud.
C3  - International Working Conference “Total Quality Management – Advanced and Intelligent Approaches’’, Proceedings
T1  - Recognition of one class of quadric surfaces from unstructured point cloud
EP  - 360
SP  - 353
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5178
ER  - 

@conference{
author = "Jakovljević, Živana and Marković, Veljko",
year = "2015",
abstract = "Critical elements of the state of the art three-dimensional (3D) point cloud processing software are the algorithms for retrieval of high level geometric primitives from raw data. This paper presents a method for recognition of a class of quadric surfaces, in particular for recognition of cylinders, elliptical cylinders, and ellipsoids from 3D point clouds. The method is based on direct least squares fitting of ellipsoids, and it exploits the closeness of scatter matrix to singular in the case when data are sampled for an approximate ellipsoid. This method belongs to the class of region growing methods, and the region is expanded using region growing strategy that is also proposed in this paper. Presented recognition procedure is suitable for segmentation of regions with G1 or higher continuality, and this is its advantage when compared to similar methods. Besides, recognition of quadric surfaces can be performed on unstructured, as well as on structured point clouds. The applicability of the method is illustrated and experimentally verified using two examples that contain G1 continuous surfaces from the considered class. The first example represents synthesized, and the second real-world scanned point cloud.",
journal = "International Working Conference “Total Quality Management – Advanced and Intelligent Approaches’’, Proceedings",
title = "Recognition of one class of quadric surfaces from unstructured point cloud",
pages = "360-353",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5178"
}

Jakovljević, Ž.,& Marković, V.. (2015). Recognition of one class of quadric surfaces from unstructured point cloud. in International Working Conference “Total Quality Management – Advanced and Intelligent Approaches’’, Proceedings, 353-360.
https://hdl.handle.net/21.15107/rcub_machinery_5178

Jakovljević Ž, Marković V. Recognition of one class of quadric surfaces from unstructured point cloud. in International Working Conference “Total Quality Management – Advanced and Intelligent Approaches’’, Proceedings. 2015;:353-360.
https://hdl.handle.net/21.15107/rcub_machinery_5178 .

Jakovljević, Živana, Marković, Veljko, "Recognition of one class of quadric surfaces from unstructured point cloud" in International Working Conference “Total Quality Management – Advanced and Intelligent Approaches’’, Proceedings (2015):353-360,
https://hdl.handle.net/21.15107/rcub_machinery_5178 .

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

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

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

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

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

TY  - CONF
AU  - Stojadinović, Slavenko
AU  - Majstorović, Vidosav
AU  - Durakbasa, Numan
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6192
AB  - У раду је представљен модел аутоматског генерисања путање мерног сензора нумерички управљане мерне машине (НУММ). Модел се састоји из анализе расподеле мерних тачака и анализе избегавања колизије између мерног сензора и призматичног дела. Геометријске информације потребне за планирање путање преузете су из интерних записа CAD модела призматичног дела (IGES и STL), док се улазни подаци о толеранција уносе на основу већ креиране базе знања. Представљени метод је нов приступ аутоматској инспекцији чија предност се огледа у смањењу укупног времена мерења кроз смањење времена потребног за припрему мерења услед аутоматског генерисања путање мерног сензора и остављене могућности за њену оптимизацију.
AB  - This paper presents a model for automated probe path generation for CMM. The method consists from sampling strategy and collision-free generation between probe and prismatic part. Needed geometrical information for path planning are taken from internal file of CAD model prismatic part (IGES and STL), while input data about tolerance entries on the base already created knowledge base. Presented model is a new approach automated inspection, whose advantage is in reduction the total measurement time by reducing the time needed for the preparation of the measurements due automated generation of probe path and allowed opportunities for its optimization.
PB  - Mašinski fakultet, Beograd
C3  - Зборник радова, 39. ЈУПИТЕР Конференција, 19. симпозијум МЕНАЏМЕНТ КВАЛИТЕТОМ
T1  - Аутоматско планирање путање мерног сензора при инспекцији призматичних делована мерној машини
T1  - Automated probe path planning for inspection prismatic parts on CMM
EP  - 5.26
SP  - 5.19
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6192
ER  - 

@conference{
author = "Stojadinović, Slavenko and Majstorović, Vidosav and Durakbasa, Numan",
year = "2014",
abstract = "У раду је представљен модел аутоматског генерисања путање мерног сензора нумерички управљане мерне машине (НУММ). Модел се састоји из анализе расподеле мерних тачака и анализе избегавања колизије између мерног сензора и призматичног дела. Геометријске информације потребне за планирање путање преузете су из интерних записа CAD модела призматичног дела (IGES и STL), док се улазни подаци о толеранција уносе на основу већ креиране базе знања. Представљени метод је нов приступ аутоматској инспекцији чија предност се огледа у смањењу укупног времена мерења кроз смањење времена потребног за припрему мерења услед аутоматског генерисања путање мерног сензора и остављене могућности за њену оптимизацију., This paper presents a model for automated probe path generation for CMM. The method consists from sampling strategy and collision-free generation between probe and prismatic part. Needed geometrical information for path planning are taken from internal file of CAD model prismatic part (IGES and STL), while input data about tolerance entries on the base already created knowledge base. Presented model is a new approach automated inspection, whose advantage is in reduction the total measurement time by reducing the time needed for the preparation of the measurements due automated generation of probe path and allowed opportunities for its optimization.",
publisher = "Mašinski fakultet, Beograd",
journal = "Зборник радова, 39. ЈУПИТЕР Конференција, 19. симпозијум МЕНАЏМЕНТ КВАЛИТЕТОМ",
title = "Аутоматско планирање путање мерног сензора при инспекцији призматичних делована мерној машини, Automated probe path planning for inspection prismatic parts on CMM",
pages = "5.26-5.19",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6192"
}

Stojadinović, S., Majstorović, V.,& Durakbasa, N.. (2014). Аутоматско планирање путање мерног сензора при инспекцији призматичних делована мерној машини. in Зборник радова, 39. ЈУПИТЕР Конференција, 19. симпозијум МЕНАЏМЕНТ КВАЛИТЕТОМ
Mašinski fakultet, Beograd., 5.19-5.26.
https://hdl.handle.net/21.15107/rcub_machinery_6192

Stojadinović S, Majstorović V, Durakbasa N. Аутоматско планирање путање мерног сензора при инспекцији призматичних делована мерној машини. in Зборник радова, 39. ЈУПИТЕР Конференција, 19. симпозијум МЕНАЏМЕНТ КВАЛИТЕТОМ. 2014;:5.19-5.26.
https://hdl.handle.net/21.15107/rcub_machinery_6192 .

Stojadinović, Slavenko, Majstorović, Vidosav, Durakbasa, Numan, "Аутоматско планирање путање мерног сензора при инспекцији призматичних делована мерној машини" in Зборник радова, 39. ЈУПИТЕР Конференција, 19. симпозијум МЕНАЏМЕНТ КВАЛИТЕТОМ (2014):5.19-5.26,
https://hdl.handle.net/21.15107/rcub_machinery_6192 .

TY  - CONF
AU  - Milković, Dragan
AU  - Simić, Goran
AU  - Tanasković, Jovan
AU  - Jakovljević, Živana
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5180
AB  - Angle of attack is important wheel-rail contact parameter and serves for estimation of the rolling stock curving performance. Together with wheel-rail contact forces, angle of attack influences the wear index. This paper presents experimental on-track measurements of the angle of attack using specially designed laser device installed on track. Experiments were performed on three type of rail vehicles: shunting locomotive series 631-301, motor unit 412-077 and trailing unit 416-077 of the electromotor train 412/416. Experimental measurements were compared with multibody system (MBS) simulations using specialized computer package VAMPIRE Pro. We found good agreement between the results obtained experimentally and by simulations.
C3  - XVI Scientific-expert conference on railways RAILCON 2014, Proceedings
T1  - Experimental measurements and numerical simulations of the wheel-rail angle of attack
EP  - 20
SP  - 17
DO  - 978-86-6055-060-8
ER  - 

@conference{
author = "Milković, Dragan and Simić, Goran and Tanasković, Jovan and Jakovljević, Živana",
year = "2014",
abstract = "Angle of attack is important wheel-rail contact parameter and serves for estimation of the rolling stock curving performance. Together with wheel-rail contact forces, angle of attack influences the wear index. This paper presents experimental on-track measurements of the angle of attack using specially designed laser device installed on track. Experiments were performed on three type of rail vehicles: shunting locomotive series 631-301, motor unit 412-077 and trailing unit 416-077 of the electromotor train 412/416. Experimental measurements were compared with multibody system (MBS) simulations using specialized computer package VAMPIRE Pro. We found good agreement between the results obtained experimentally and by simulations.",
journal = "XVI Scientific-expert conference on railways RAILCON 2014, Proceedings",
title = "Experimental measurements and numerical simulations of the wheel-rail angle of attack",
pages = "20-17",
doi = "978-86-6055-060-8"
}

Milković, D., Simić, G., Tanasković, J.,& Jakovljević, Ž.. (2014). Experimental measurements and numerical simulations of the wheel-rail angle of attack. in XVI Scientific-expert conference on railways RAILCON 2014, Proceedings, 17-20.
https://doi.org/978-86-6055-060-8

Milković D, Simić G, Tanasković J, Jakovljević Ž. Experimental measurements and numerical simulations of the wheel-rail angle of attack. in XVI Scientific-expert conference on railways RAILCON 2014, Proceedings. 2014;:17-20.
doi:978-86-6055-060-8 .

Milković, Dragan, Simić, Goran, Tanasković, Jovan, Jakovljević, Živana, "Experimental measurements and numerical simulations of the wheel-rail angle of attack" in XVI Scientific-expert conference on railways RAILCON 2014, Proceedings (2014):17-20,
https://doi.org/978-86-6055-060-8 . .

TY  - CONF
AU  - Marković, Veljko
AU  - Jakovljević, Živana
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5615
AB  - U radu se predlaže metod za segmentaciju jedne klase površi drugog reda (kvadrika) iz struktuiranog oblaka tačaka. Metod je zasnovan na segmentaciji elipsi iz skeniranih linija direktnom regresijom metodom najmanjih kvadrata. Segmentacijom elipsi u oba pravca struktuiranog oblaka mogu se efikasno izdvojiti G1 (i više) kontinualni regioni koji odgovaraju određenim površima drugog reda. Predloženi metod je pre svega namenjen segmentaciji eliptičkih cilindara i elipsoida čije posebne slučajeve predstavljaju cilindar i sfera, a u zavisnosti od načina skeniranja može se upotrebiti i za segmentaciju drugih kvadrika (na primer konusa). Pored toga, u radu se pokazuje da metod daje dobre rezultate i u segmentaciji površi višeg reda u odnosu na kvadrike – na primer eliptičkih torusa. 
Predloženi metod je eksperimentalno verifikovan na većem broju sintetizovanih oblaka tačaka kao i na primeru skeniranog dela iz realnog sveta.
C3  - 39. JUPITER konferencija, Zbornik radova
T1  - Segmentacija jedne klase površi drugog reda iz struktuiranog oblaka tačaka
EP  - 4.22
SP  - 4.13
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5615
ER  - 

@conference{
author = "Marković, Veljko and Jakovljević, Živana",
year = "2014",
abstract = "U radu se predlaže metod za segmentaciju jedne klase površi drugog reda (kvadrika) iz struktuiranog oblaka tačaka. Metod je zasnovan na segmentaciji elipsi iz skeniranih linija direktnom regresijom metodom najmanjih kvadrata. Segmentacijom elipsi u oba pravca struktuiranog oblaka mogu se efikasno izdvojiti G1 (i više) kontinualni regioni koji odgovaraju određenim površima drugog reda. Predloženi metod je pre svega namenjen segmentaciji eliptičkih cilindara i elipsoida čije posebne slučajeve predstavljaju cilindar i sfera, a u zavisnosti od načina skeniranja može se upotrebiti i za segmentaciju drugih kvadrika (na primer konusa). Pored toga, u radu se pokazuje da metod daje dobre rezultate i u segmentaciji površi višeg reda u odnosu na kvadrike – na primer eliptičkih torusa. 
Predloženi metod je eksperimentalno verifikovan na većem broju sintetizovanih oblaka tačaka kao i na primeru skeniranog dela iz realnog sveta.",
journal = "39. JUPITER konferencija, Zbornik radova",
title = "Segmentacija jedne klase površi drugog reda iz struktuiranog oblaka tačaka",
pages = "4.22-4.13",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5615"
}

Marković, V.,& Jakovljević, Ž.. (2014). Segmentacija jedne klase površi drugog reda iz struktuiranog oblaka tačaka. in 39. JUPITER konferencija, Zbornik radova, 4.13-4.22.
https://hdl.handle.net/21.15107/rcub_machinery_5615

Marković V, Jakovljević Ž. Segmentacija jedne klase površi drugog reda iz struktuiranog oblaka tačaka. in 39. JUPITER konferencija, Zbornik radova. 2014;:4.13-4.22.
https://hdl.handle.net/21.15107/rcub_machinery_5615 .

Marković, Veljko, Jakovljević, Živana, "Segmentacija jedne klase površi drugog reda iz struktuiranog oblaka tačaka" in 39. JUPITER konferencija, Zbornik radova (2014):4.13-4.22,
https://hdl.handle.net/21.15107/rcub_machinery_5615 .