TY  - GEN
AU  - Obradović, Aleksandar
PY  - 2024
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7767
T1  - О брахистохронных движениях твердых тел с различными ограничениями реакции связи
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7767
ER  - 

@misc{
author = "Obradović, Aleksandar",
year = "2024",
title = "О брахистохронных движениях твердых тел с различными ограничениями реакции связи",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7767"
}

Obradović, A.. (2024). О брахистохронных движениях твердых тел с различными ограничениями реакции связи. .
https://hdl.handle.net/21.15107/rcub_machinery_7767

Obradović A. О брахистохронных движениях твердых тел с различными ограничениями реакции связи. 2024;.
https://hdl.handle.net/21.15107/rcub_machinery_7767 .

Obradović, Aleksandar, "О брахистохронных движениях твердых тел с различными ограничениями реакции связи" (2024),
https://hdl.handle.net/21.15107/rcub_machinery_7767 .

TY  - JOUR
AU  - Zivković, Nikola
AU  - Vidaković, Jelena
AU  - Lazarević, Mihailo
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6978
AB  - Forward kinematics is fundamental to robot design, control, and simulation. Different forward kinematics algorithms have been developed to deal with the complex geometry of a robot. This paper presents a robot forward kinematics algorithm in dual quaternion space. The presented method uses Denavit-Hartenberg (DH) convention for uniform definition of successive rotational and translational transformations in joints along the robot’s kinematic chain. This research aims to utilize the advantages of dual quaternions and DH convection for forward kinematics computation and make the algorithm, which is compact, intuitive, numerically robust, and computationally efficient as it uses the minimal number of parameters required for the computation, suitable for implementation in ROS and similar software. The algorithm is verified on the 6DoF industrial robot RL15, with the symbolic equations and numerical simulation presented.
PB  - Novi Sad : The Association of Intellectuals for the Development of Science in Serbia – “The Serbian Academic Center”
T2  - Applied Engineering Letters
T1  - FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION
EP  - 59
IS  - 2
SP  - 52
VL  - 8
DO  - 10.18485/aeletters.2023.8.2.2
ER  - 

@article{
author = "Zivković, Nikola and Vidaković, Jelena and Lazarević, Mihailo",
year = "2023",
abstract = "Forward kinematics is fundamental to robot design, control, and simulation. Different forward kinematics algorithms have been developed to deal with the complex geometry of a robot. This paper presents a robot forward kinematics algorithm in dual quaternion space. The presented method uses Denavit-Hartenberg (DH) convention for uniform definition of successive rotational and translational transformations in joints along the robot’s kinematic chain. This research aims to utilize the advantages of dual quaternions and DH convection for forward kinematics computation and make the algorithm, which is compact, intuitive, numerically robust, and computationally efficient as it uses the minimal number of parameters required for the computation, suitable for implementation in ROS and similar software. The algorithm is verified on the 6DoF industrial robot RL15, with the symbolic equations and numerical simulation presented.",
publisher = "Novi Sad : The Association of Intellectuals for the Development of Science in Serbia – “The Serbian Academic Center”",
journal = "Applied Engineering Letters",
title = "FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION",
pages = "59-52",
number = "2",
volume = "8",
doi = "10.18485/aeletters.2023.8.2.2"
}

Zivković, N., Vidaković, J.,& Lazarević, M.. (2023). FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION. in Applied Engineering Letters
Novi Sad : The Association of Intellectuals for the Development of Science in Serbia – “The Serbian Academic Center”., 8(2), 52-59.
https://doi.org/10.18485/aeletters.2023.8.2.2

Zivković N, Vidaković J, Lazarević M. FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION. in Applied Engineering Letters. 2023;8(2):52-59.
doi:10.18485/aeletters.2023.8.2.2 .

Zivković, Nikola, Vidaković, Jelena, Lazarević, Mihailo, "FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION" in Applied Engineering Letters, 8, no. 2 (2023):52-59,
https://doi.org/10.18485/aeletters.2023.8.2.2 . .

TY  - GEN
AU  - Obradović, Aleksandar
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7770
T1  - К задаче о качении тяжелого однородного шара без проскальзывания по неподвижной поверхности вращения
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7770
ER  - 

@misc{
author = "Obradović, Aleksandar",
year = "2023",
title = "К задаче о качении тяжелого однородного шара без проскальзывания по неподвижной поверхности вращения",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7770"
}

Obradović, A.. (2023). К задаче о качении тяжелого однородного шара без проскальзывания по неподвижной поверхности вращения. .
https://hdl.handle.net/21.15107/rcub_machinery_7770

Obradović A. К задаче о качении тяжелого однородного шара без проскальзывания по неподвижной поверхности вращения. 2023;.
https://hdl.handle.net/21.15107/rcub_machinery_7770 .

Obradović, Aleksandar, "К задаче о качении тяжелого однородного шара без проскальзывания по неподвижной поверхности вращения" (2023),
https://hdl.handle.net/21.15107/rcub_machinery_7770 .

TY  - CONF
AU  - Stojanović, Jagoš
AU  - Mladenović, Goran
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5674
AB  - Parts with free-form surfaces can be found in a wide range of products and components in almost all industrial segments,  including  goods,  toys,  electronic  devices,  dies  and  molds,  automotive,  even  in  medical  and aerospace  industries. Today, there are many commercial  CAM systems capable  for generating  G codes for free-form surfaces machining. In this paper, tool path generation is presented using different commercial CAM systems.  It is presented differences  in machining  time in accordance  with used machining  strategies.  Used machining  strategies  gives  different  scallop  height  of  machined  surface  and  according  to  given  surface roughness  it is used different  machining  parameters  in every used  strategy.  It is also given differences  in machining time in dependence  of chosen CAM software.  As the conclusion  it is given that the different CAM software  have implemented  different  machining  strategies  and  according  to this it will generate  NC codes which will have different tool path. Difference in tool path has impact on surface roughness and total machining time and according to that impact on final product price.
PB  - Innovation Center of Faculty of Mechanical Engineering
C3  - 6th International Conference of Experimental and Numerical Investigations and New Technologies – CNN TECH 2022, The Book Of Abstracts
T1  - Analysis of methods for tool path generation using commercial cam systems
EP  - 59
SP  - 59
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5674
ER  - 

@conference{
author = "Stojanović, Jagoš and Mladenović, Goran",
year = "2022",
abstract = "Parts with free-form surfaces can be found in a wide range of products and components in almost all industrial segments,  including  goods,  toys,  electronic  devices,  dies  and  molds,  automotive,  even  in  medical  and aerospace  industries. Today, there are many commercial  CAM systems capable  for generating  G codes for free-form surfaces machining. In this paper, tool path generation is presented using different commercial CAM systems.  It is presented differences  in machining  time in accordance  with used machining  strategies.  Used machining  strategies  gives  different  scallop  height  of  machined  surface  and  according  to  given  surface roughness  it is used different  machining  parameters  in every used  strategy.  It is also given differences  in machining time in dependence  of chosen CAM software.  As the conclusion  it is given that the different CAM software  have implemented  different  machining  strategies  and  according  to this it will generate  NC codes which will have different tool path. Difference in tool path has impact on surface roughness and total machining time and according to that impact on final product price.",
publisher = "Innovation Center of Faculty of Mechanical Engineering",
journal = "6th International Conference of Experimental and Numerical Investigations and New Technologies – CNN TECH 2022, The Book Of Abstracts",
title = "Analysis of methods for tool path generation using commercial cam systems",
pages = "59-59",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5674"
}

Stojanović, J.,& Mladenović, G.. (2022). Analysis of methods for tool path generation using commercial cam systems. in 6th International Conference of Experimental and Numerical Investigations and New Technologies – CNN TECH 2022, The Book Of Abstracts
Innovation Center of Faculty of Mechanical Engineering., 59-59.
https://hdl.handle.net/21.15107/rcub_machinery_5674

Stojanović J, Mladenović G. Analysis of methods for tool path generation using commercial cam systems. in 6th International Conference of Experimental and Numerical Investigations and New Technologies – CNN TECH 2022, The Book Of Abstracts. 2022;:59-59.
https://hdl.handle.net/21.15107/rcub_machinery_5674 .

Stojanović, Jagoš, Mladenović, Goran, "Analysis of methods for tool path generation using commercial cam systems" in 6th International Conference of Experimental and Numerical Investigations and New Technologies – CNN TECH 2022, The Book Of Abstracts (2022):59-59,
https://hdl.handle.net/21.15107/rcub_machinery_5674 .

TY  - CONF
AU  - Jevtić, Ivana
AU  - Popović, Mihajlo
AU  - Mladenović, Goran
AU  - Pjević, Miloš
AU  - Milošević, Miloš
AU  - Milovanović, Aleksa
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5679
AB  - Generativni dizajn je jedan od oblika veštačke inteligencije koji nudi niz odgovarajućih rešenja za izbor geometrije dela, a na osnovu postavljene funkcije cilja i ograničenja, koja dovode do poboljšanja u skladu sa potrebama dizajna.  Upotreba aditivnih proizvodnih tehnologija dozvoljava njihovu implementaciju uz generativni dizajn, pošto sama tehnologija nudi širi spektar izrade geometrija konacnog dela u odnosu na konvencionalne proizvodne tehnologije. U ovom radu, radi primene generativnog dizajna korišćen je softver Creo Parametric, da bi se dobio poholjsani dizajn dela i kako bi se pripremila izrada dela korišcenjem aditivnih proizvodnih tehnologija.
PB  - Univerzitet u Beogradu - Mašinski Fakultet
C3  - 43. JUPITER konferencija - Zbornik radova
T1  - Generativni dizajn i primena aditivnih tehnologija u okruženju creo parametric
EP  - 2.38
SP  - 2.35
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5679
ER  - 

@conference{
author = "Jevtić, Ivana and Popović, Mihajlo and Mladenović, Goran and Pjević, Miloš and Milošević, Miloš and Milovanović, Aleksa",
year = "2022",
abstract = "Generativni dizajn je jedan od oblika veštačke inteligencije koji nudi niz odgovarajućih rešenja za izbor geometrije dela, a na osnovu postavljene funkcije cilja i ograničenja, koja dovode do poboljšanja u skladu sa potrebama dizajna.  Upotreba aditivnih proizvodnih tehnologija dozvoljava njihovu implementaciju uz generativni dizajn, pošto sama tehnologija nudi širi spektar izrade geometrija konacnog dela u odnosu na konvencionalne proizvodne tehnologije. U ovom radu, radi primene generativnog dizajna korišćen je softver Creo Parametric, da bi se dobio poholjsani dizajn dela i kako bi se pripremila izrada dela korišcenjem aditivnih proizvodnih tehnologija.",
publisher = "Univerzitet u Beogradu - Mašinski Fakultet",
journal = "43. JUPITER konferencija - Zbornik radova",
title = "Generativni dizajn i primena aditivnih tehnologija u okruženju creo parametric",
pages = "2.38-2.35",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5679"
}

Jevtić, I., Popović, M., Mladenović, G., Pjević, M., Milošević, M.,& Milovanović, A.. (2022). Generativni dizajn i primena aditivnih tehnologija u okruženju creo parametric. in 43. JUPITER konferencija - Zbornik radova
Univerzitet u Beogradu - Mašinski Fakultet., 2.35-2.38.
https://hdl.handle.net/21.15107/rcub_machinery_5679

Jevtić I, Popović M, Mladenović G, Pjević M, Milošević M, Milovanović A. Generativni dizajn i primena aditivnih tehnologija u okruženju creo parametric. in 43. JUPITER konferencija - Zbornik radova. 2022;:2.35-2.38.
https://hdl.handle.net/21.15107/rcub_machinery_5679 .

Jevtić, Ivana, Popović, Mihajlo, Mladenović, Goran, Pjević, Miloš, Milošević, Miloš, Milovanović, Aleksa, "Generativni dizajn i primena aditivnih tehnologija u okruženju creo parametric" in 43. JUPITER konferencija - Zbornik radova (2022):2.35-2.38,
https://hdl.handle.net/21.15107/rcub_machinery_5679 .

TY  - CONF
AU  - Mladenović, Goran
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5688
AB  - The development  of an Out of Vacuum (shortly named:  "OoV'J solution for particle detector electronics, as a part of the upgrade of the ATLAS Forward Proton (AFP) detector, is presented in this paper. The AFP detector is housed on a flange inside a Roman Pot (RP) station that comes very close to the beam of the LHC during data taking when there are interactions/collisions at Point 1. In order to minimize  multiple scattering, the RP bottom side/window separating the detector from the bream is made very thin (200 J.lm) and hence, in order to protect it from ultra high primary vacuum of the LHC, it is kept in a secondary vacuum. However, some particle tracking detector electronics, in particular MCP-PMT (Micro Channel Plate Photomultiplier  Tube) was proven to show strong deterioration  or even malfunction under vacuum. Hence, the flange needed to be modified in order to allow operation  in ambient air. The new design  also includes  a quartz window, serving also as the interface between the LQ bars channeling  light produced by Cherenkov  radiation in secondary  vacuum and the MCP-PMT  in air on the other side.  The quartz  window  is mounted  on an MCP-PMT  holder  and fixed
between the spacer and a nut from the upper side, as well as with an 0-ring from the bottom side, making it
much less mechanically  stressed due to pressure differences. It is also possible to adjust the height and angle of the MCP-PMT holder by means of four high precision screws. Bellow is used as the interface between the MCP-PMT holder and the flange, allowing sealing and vertical adjustment. There are two 0-rings mounted on the bellow; one between the flange from the upper side and second on the MCP-PMT  holder on the bottom side. The MCP-PMT itself is mounted Inside the MCP-PMT  holder, kept in place using also the cable holder with heat conducting pads. The holder is also kept in place by means of four clamps from the outer side. An FEA analysis was conducted as well based on the designed CAD model. After verification, first prototype was made, which was used for extensive testing of proper sealing. After an official review by CERN experts, the solution was approved for installation.
PB  - Innovation Center of Faculty of Mechanical Engineering
C3  - 5th International Conference of Experimental and Numerical Investigations and New Technologies – CNN TECH 2021, The Book Of Abstracts
T1  - Development of an out of vacuum solution for particle detector electronics using commercial cad software
EP  - 50
SP  - 50
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5688
ER  - 

@conference{
author = "Mladenović, Goran",
year = "2021",
abstract = "The development  of an Out of Vacuum (shortly named:  "OoV'J solution for particle detector electronics, as a part of the upgrade of the ATLAS Forward Proton (AFP) detector, is presented in this paper. The AFP detector is housed on a flange inside a Roman Pot (RP) station that comes very close to the beam of the LHC during data taking when there are interactions/collisions at Point 1. In order to minimize  multiple scattering, the RP bottom side/window separating the detector from the bream is made very thin (200 J.lm) and hence, in order to protect it from ultra high primary vacuum of the LHC, it is kept in a secondary vacuum. However, some particle tracking detector electronics, in particular MCP-PMT (Micro Channel Plate Photomultiplier  Tube) was proven to show strong deterioration  or even malfunction under vacuum. Hence, the flange needed to be modified in order to allow operation  in ambient air. The new design  also includes  a quartz window, serving also as the interface between the LQ bars channeling  light produced by Cherenkov  radiation in secondary  vacuum and the MCP-PMT  in air on the other side.  The quartz  window  is mounted  on an MCP-PMT  holder  and fixed
between the spacer and a nut from the upper side, as well as with an 0-ring from the bottom side, making it
much less mechanically  stressed due to pressure differences. It is also possible to adjust the height and angle of the MCP-PMT holder by means of four high precision screws. Bellow is used as the interface between the MCP-PMT holder and the flange, allowing sealing and vertical adjustment. There are two 0-rings mounted on the bellow; one between the flange from the upper side and second on the MCP-PMT  holder on the bottom side. The MCP-PMT itself is mounted Inside the MCP-PMT  holder, kept in place using also the cable holder with heat conducting pads. The holder is also kept in place by means of four clamps from the outer side. An FEA analysis was conducted as well based on the designed CAD model. After verification, first prototype was made, which was used for extensive testing of proper sealing. After an official review by CERN experts, the solution was approved for installation.",
publisher = "Innovation Center of Faculty of Mechanical Engineering",
journal = "5th International Conference of Experimental and Numerical Investigations and New Technologies – CNN TECH 2021, The Book Of Abstracts",
title = "Development of an out of vacuum solution for particle detector electronics using commercial cad software",
pages = "50-50",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5688"
}

Mladenović, G.. (2021). Development of an out of vacuum solution for particle detector electronics using commercial cad software. in 5th International Conference of Experimental and Numerical Investigations and New Technologies – CNN TECH 2021, The Book Of Abstracts
Innovation Center of Faculty of Mechanical Engineering., 50-50.
https://hdl.handle.net/21.15107/rcub_machinery_5688

Mladenović G. Development of an out of vacuum solution for particle detector electronics using commercial cad software. in 5th International Conference of Experimental and Numerical Investigations and New Technologies – CNN TECH 2021, The Book Of Abstracts. 2021;:50-50.
https://hdl.handle.net/21.15107/rcub_machinery_5688 .

Mladenović, Goran, "Development of an out of vacuum solution for particle detector electronics using commercial cad software" in 5th International Conference of Experimental and Numerical Investigations and New Technologies – CNN TECH 2021, The Book Of Abstracts (2021):50-50,
https://hdl.handle.net/21.15107/rcub_machinery_5688 .