Mitrović, S.

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  • Mitrović, S. (5)

Author's Bibliography

Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS

Zivković, N.; Vidaković, Jelena; Mitrović, S.; Lazarević, Mihailo

(Institute of Electrical and Electronics Engineers Inc., 2022)

TY  - CONF
AU  - Zivković, N.
AU  - Vidaković, Jelena
AU  - Mitrović, S.
AU  - Lazarević, Mihailo
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3832
AB  - This paper presents a method for the implementation of a robot forward kinematics algorithm that complies with the Denavit-Hartenberg (DH) convention in Robot Operating System (ROS). The integration of the algorithm in ROS is based on the representation of DH parameters in dual quaternion space. The main motivation for the presented research is to make use of ROS powerful visualization tools available in tasks that require robot forward kinematics calculation while keeping the principles of DH robot modeling convention. Implementation of the dual quaternion-based robot forward kinematics algorithm in ROS is demonstrated using a serial 6DoFs robot as an example.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - 2022 11th Mediterranean Conference on Embedded Computing, MECO 2022
T1  - Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS
DO  - 10.1109/MECO55406.2022.9797160
ER  - 
@conference{
author = "Zivković, N. and Vidaković, Jelena and Mitrović, S. and Lazarević, Mihailo",
year = "2022",
abstract = "This paper presents a method for the implementation of a robot forward kinematics algorithm that complies with the Denavit-Hartenberg (DH) convention in Robot Operating System (ROS). The integration of the algorithm in ROS is based on the representation of DH parameters in dual quaternion space. The main motivation for the presented research is to make use of ROS powerful visualization tools available in tasks that require robot forward kinematics calculation while keeping the principles of DH robot modeling convention. Implementation of the dual quaternion-based robot forward kinematics algorithm in ROS is demonstrated using a serial 6DoFs robot as an example.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "2022 11th Mediterranean Conference on Embedded Computing, MECO 2022",
title = "Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS",
doi = "10.1109/MECO55406.2022.9797160"
}
Zivković, N., Vidaković, J., Mitrović, S.,& Lazarević, M.. (2022). Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS. in 2022 11th Mediterranean Conference on Embedded Computing, MECO 2022
Institute of Electrical and Electronics Engineers Inc...
https://doi.org/10.1109/MECO55406.2022.9797160
Zivković N, Vidaković J, Mitrović S, Lazarević M. Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS. in 2022 11th Mediterranean Conference on Embedded Computing, MECO 2022. 2022;.
doi:10.1109/MECO55406.2022.9797160 .
Zivković, N., Vidaković, Jelena, Mitrović, S., Lazarević, Mihailo, "Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS" in 2022 11th Mediterranean Conference on Embedded Computing, MECO 2022 (2022),
https://doi.org/10.1109/MECO55406.2022.9797160 . .
2
3

Intelligent sensing systems – Status of research at KaProm

Jakovljević, Živana; Petrović, Milica; Mitrović, S.; Miljković, Zoran

(Pleiades journals, 2018)

TY  - CHAP
AU  - Jakovljević, Živana
AU  - Petrović, Milica
AU  - Mitrović, S.
AU  - Miljković, Zoran
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2993
AB  - Within Industrie 4.0 intelligent sensing systems represent an indispensable asset with significant role in enabling shifting from automated to intelligent manufacturing. Instead of being simple transducers, intelligent sensors are able to retrieve useful information from raw signal. They represent systems with integrated computation and communication capabilities, that run sophisticated and real time applicable algorithms and communicate the necessary information to the other elements of the manufacturing facility. In this paper we present the recent research results in the field of intelligent sensing systems that were accomplished at Laboratory for Manufacturing Automation and Laboratory for Robotics and Artificial Intelligence at Department for Production Engineering (KaProm) at Faculty of Mechanical Engineering in Belgrade. Presented systems are intended for application in various manufacturing processes, such as machining, assembly, manipulation, material transport, rubber processing lines. They are based on application of different non-stationary signal processing (Discrete Wavelet Transform, Huang-Hilbert transform) and machine learning and artificial intelligence techniques (Support Vector Machines, Artificial Neural Networks, bio-inspired algorithms, clustering methods, fuzzy inference mechanisms). The most of developed systems are implemented in embedded devices and their real-world applicability is demonstrated.
PB  - Pleiades journals
T2  - Proceedings of 3rd International Conference on the Industry 4.0 Model for Advanced Manufacturing, Belgrade, Serbia, 5–7 June, 2018, Lecture Notes in Mechanical Engineering
T1  - Intelligent sensing systems – Status of research at KaProm
EP  - 36
SP  - 18
DO  - 10.1007/978-3-319-89563-5_2
ER  - 
@inbook{
author = "Jakovljević, Živana and Petrović, Milica and Mitrović, S. and Miljković, Zoran",
year = "2018",
abstract = "Within Industrie 4.0 intelligent sensing systems represent an indispensable asset with significant role in enabling shifting from automated to intelligent manufacturing. Instead of being simple transducers, intelligent sensors are able to retrieve useful information from raw signal. They represent systems with integrated computation and communication capabilities, that run sophisticated and real time applicable algorithms and communicate the necessary information to the other elements of the manufacturing facility. In this paper we present the recent research results in the field of intelligent sensing systems that were accomplished at Laboratory for Manufacturing Automation and Laboratory for Robotics and Artificial Intelligence at Department for Production Engineering (KaProm) at Faculty of Mechanical Engineering in Belgrade. Presented systems are intended for application in various manufacturing processes, such as machining, assembly, manipulation, material transport, rubber processing lines. They are based on application of different non-stationary signal processing (Discrete Wavelet Transform, Huang-Hilbert transform) and machine learning and artificial intelligence techniques (Support Vector Machines, Artificial Neural Networks, bio-inspired algorithms, clustering methods, fuzzy inference mechanisms). The most of developed systems are implemented in embedded devices and their real-world applicability is demonstrated.",
publisher = "Pleiades journals",
journal = "Proceedings of 3rd International Conference on the Industry 4.0 Model for Advanced Manufacturing, Belgrade, Serbia, 5–7 June, 2018, Lecture Notes in Mechanical Engineering",
booktitle = "Intelligent sensing systems – Status of research at KaProm",
pages = "36-18",
doi = "10.1007/978-3-319-89563-5_2"
}
Jakovljević, Ž., Petrović, M., Mitrović, S.,& Miljković, Z.. (2018). Intelligent sensing systems – Status of research at KaProm. in Proceedings of 3rd International Conference on the Industry 4.0 Model for Advanced Manufacturing, Belgrade, Serbia, 5–7 June, 2018, Lecture Notes in Mechanical Engineering
Pleiades journals., 18-36.
https://doi.org/10.1007/978-3-319-89563-5_2
Jakovljević Ž, Petrović M, Mitrović S, Miljković Z. Intelligent sensing systems – Status of research at KaProm. in Proceedings of 3rd International Conference on the Industry 4.0 Model for Advanced Manufacturing, Belgrade, Serbia, 5–7 June, 2018, Lecture Notes in Mechanical Engineering. 2018;:18-36.
doi:10.1007/978-3-319-89563-5_2 .
Jakovljević, Živana, Petrović, Milica, Mitrović, S., Miljković, Zoran, "Intelligent sensing systems – Status of research at KaProm" in Proceedings of 3rd International Conference on the Industry 4.0 Model for Advanced Manufacturing, Belgrade, Serbia, 5–7 June, 2018, Lecture Notes in Mechanical Engineering (2018):18-36,
https://doi.org/10.1007/978-3-319-89563-5_2 . .
3
3

Cyber physical production systems-an IEC 61499 perspective

Jakovljević, Živana; Mitrović, S.; Pajić, Miroslav

(Springer Heidelberg, 2017)

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 . .
12
11

The evaluation of road design elements before and after reconstruction

Cicević, S.; Dragović, M.; Žunjić, Aleksandar; Trifunović, Aleksandar; Mitrović, S.; Nešić, M.

(Nova Science Publishers, Inc., 2017)

TY  - CHAP
AU  - Cicević, S.
AU  - Dragović, M.
AU  - Žunjić, Aleksandar
AU  - Trifunović, Aleksandar
AU  - Mitrović, S.
AU  - Nešić, M.
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2678
AB  - Streetscapes are important public resources, and by their very nature, are essential parts of the open space of urban areas. The improvement of urban streetscapes aims to achieve an important objective - to become complete systems that blend all components into a safe, functional, attractive, and cohesive place. Universal design principles are completely the same in the case of new construction, as well as, for the reconstruction of existing roads, to ensure safe and easy access, enhancing the social function of streets as public spaces. The transition toward a more sustainable landuse planning, influences all aspects of street design, including the general layout of streets, activities taking place along the street, the volumes of pedestrian and bicycle activity, transit usage, and traffic to be accommodated, also emphasizing protection of vulnerable road users, as well as, transport sensitive groups through physically enforcing speed limits by means of traffic calming and other measures. The fundamental issues that must be addressed in the redesign of a street are allocating its space in a way which accommodates all modes of transport, provides a genuine choice of movement, as well as supports economic development. The way to make a street more complete or inclusive will depend on the local context: how big the street is, how much vehicle traffic it carries, what the shapes and uses of the buildings around it are, what connections it makes with other streets, and so on. Balancing street spaces is both a design and management problem, because it can be achieved by making physical changes to a street and by changing regulations, which control street functions. With limited funding streams, complex approval and regulatory processes, and lengthy construction timetables, delivering such results presents a challenging task. To achieve a context-driven urban street (re)design process, a number of parameters must be taken into consideration. It is of utmost importance to evaluate how pedestrians and vehicles use a street, where and when problems arise, and to define more precisely sets of user needs, so as to identify ways in which they might be met through providing different street design elements. The current study assessed the safety, social and emotional impact of street design after reconstruction. The results of The Road Safety Inspection and users' evaluation of their experience and emotional responses to the new street environment compared with the previous, more traditional design, are presented.
PB  - Nova Science Publishers, Inc.
T2  - Ergonomic Design and Assessment of Products and Systems
T1  - The evaluation of road design elements before and after reconstruction
EP  - 193
SP  - 141
UR  - https://hdl.handle.net/21.15107/rcub_machinery_2678
ER  - 
@inbook{
author = "Cicević, S. and Dragović, M. and Žunjić, Aleksandar and Trifunović, Aleksandar and Mitrović, S. and Nešić, M.",
year = "2017",
abstract = "Streetscapes are important public resources, and by their very nature, are essential parts of the open space of urban areas. The improvement of urban streetscapes aims to achieve an important objective - to become complete systems that blend all components into a safe, functional, attractive, and cohesive place. Universal design principles are completely the same in the case of new construction, as well as, for the reconstruction of existing roads, to ensure safe and easy access, enhancing the social function of streets as public spaces. The transition toward a more sustainable landuse planning, influences all aspects of street design, including the general layout of streets, activities taking place along the street, the volumes of pedestrian and bicycle activity, transit usage, and traffic to be accommodated, also emphasizing protection of vulnerable road users, as well as, transport sensitive groups through physically enforcing speed limits by means of traffic calming and other measures. The fundamental issues that must be addressed in the redesign of a street are allocating its space in a way which accommodates all modes of transport, provides a genuine choice of movement, as well as supports economic development. The way to make a street more complete or inclusive will depend on the local context: how big the street is, how much vehicle traffic it carries, what the shapes and uses of the buildings around it are, what connections it makes with other streets, and so on. Balancing street spaces is both a design and management problem, because it can be achieved by making physical changes to a street and by changing regulations, which control street functions. With limited funding streams, complex approval and regulatory processes, and lengthy construction timetables, delivering such results presents a challenging task. To achieve a context-driven urban street (re)design process, a number of parameters must be taken into consideration. It is of utmost importance to evaluate how pedestrians and vehicles use a street, where and when problems arise, and to define more precisely sets of user needs, so as to identify ways in which they might be met through providing different street design elements. The current study assessed the safety, social and emotional impact of street design after reconstruction. The results of The Road Safety Inspection and users' evaluation of their experience and emotional responses to the new street environment compared with the previous, more traditional design, are presented.",
publisher = "Nova Science Publishers, Inc.",
journal = "Ergonomic Design and Assessment of Products and Systems",
booktitle = "The evaluation of road design elements before and after reconstruction",
pages = "193-141",
url = "https://hdl.handle.net/21.15107/rcub_machinery_2678"
}
Cicević, S., Dragović, M., Žunjić, A., Trifunović, A., Mitrović, S.,& Nešić, M.. (2017). The evaluation of road design elements before and after reconstruction. in Ergonomic Design and Assessment of Products and Systems
Nova Science Publishers, Inc.., 141-193.
https://hdl.handle.net/21.15107/rcub_machinery_2678
Cicević S, Dragović M, Žunjić A, Trifunović A, Mitrović S, Nešić M. The evaluation of road design elements before and after reconstruction. in Ergonomic Design and Assessment of Products and Systems. 2017;:141-193.
https://hdl.handle.net/21.15107/rcub_machinery_2678 .
Cicević, S., Dragović, M., Žunjić, Aleksandar, Trifunović, Aleksandar, Mitrović, S., Nešić, M., "The evaluation of road design elements before and after reconstruction" in Ergonomic Design and Assessment of Products and Systems (2017):141-193,
https://hdl.handle.net/21.15107/rcub_machinery_2678 .

Determining the condition of material for tension bar bucket wheel excavator operating under dynamic working conditions

Daničić, Darko; Maneski, Taško; Ignjatović, Dragan; Mitrović, S.; Burzić, Zijah

(European Conference on Fracture, ECF, 2012)

TY  - CONF
AU  - Daničić, Darko
AU  - Maneski, Taško
AU  - Ignjatović, Dragan
AU  - Mitrović, S.
AU  - Burzić, Zijah
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1593
AB  - Since the bucket wheel excavator SRs 1200 had crashed with bucket wheel boom heavily damaged, there was an opportunity to analyze the real structure that was in operation for past 40 years. As there are 4 more SRs 1200 bucket wheel excavators in RB Kolubara, obtained results can be of great benefit for 4 running bucket wheel excavators, as well as the revitalization of the damaged one. The following results were acquired: State of bucket wheel excavator's tension bar fatigue, operating under dynamic working conditions. This was managed by the determination of chemical mechanical properties, fracture mechanics and permanent dynamic strength parameters (Weller curve). Based on acquired results, an evaluation for remaining life assessment of materials was determined, allowing predictions for further bucket wheel excavator exploitation performance.
PB  - European Conference on Fracture, ECF
C3  - 19th European Conference on Fracture: Fracture Mechanics for Durability, Reliability and Safety, ECF
T1  - Determining the condition of material for tension bar bucket wheel excavator operating under dynamic working conditions
UR  - https://hdl.handle.net/21.15107/rcub_machinery_1593
ER  - 
@conference{
author = "Daničić, Darko and Maneski, Taško and Ignjatović, Dragan and Mitrović, S. and Burzić, Zijah",
year = "2012",
abstract = "Since the bucket wheel excavator SRs 1200 had crashed with bucket wheel boom heavily damaged, there was an opportunity to analyze the real structure that was in operation for past 40 years. As there are 4 more SRs 1200 bucket wheel excavators in RB Kolubara, obtained results can be of great benefit for 4 running bucket wheel excavators, as well as the revitalization of the damaged one. The following results were acquired: State of bucket wheel excavator's tension bar fatigue, operating under dynamic working conditions. This was managed by the determination of chemical mechanical properties, fracture mechanics and permanent dynamic strength parameters (Weller curve). Based on acquired results, an evaluation for remaining life assessment of materials was determined, allowing predictions for further bucket wheel excavator exploitation performance.",
publisher = "European Conference on Fracture, ECF",
journal = "19th European Conference on Fracture: Fracture Mechanics for Durability, Reliability and Safety, ECF",
title = "Determining the condition of material for tension bar bucket wheel excavator operating under dynamic working conditions",
url = "https://hdl.handle.net/21.15107/rcub_machinery_1593"
}
Daničić, D., Maneski, T., Ignjatović, D., Mitrović, S.,& Burzić, Z.. (2012). Determining the condition of material for tension bar bucket wheel excavator operating under dynamic working conditions. in 19th European Conference on Fracture: Fracture Mechanics for Durability, Reliability and Safety, ECF
European Conference on Fracture, ECF..
https://hdl.handle.net/21.15107/rcub_machinery_1593
Daničić D, Maneski T, Ignjatović D, Mitrović S, Burzić Z. Determining the condition of material for tension bar bucket wheel excavator operating under dynamic working conditions. in 19th European Conference on Fracture: Fracture Mechanics for Durability, Reliability and Safety, ECF. 2012;.
https://hdl.handle.net/21.15107/rcub_machinery_1593 .
Daničić, Darko, Maneski, Taško, Ignjatović, Dragan, Mitrović, S., Burzić, Zijah, "Determining the condition of material for tension bar bucket wheel excavator operating under dynamic working conditions" in 19th European Conference on Fracture: Fracture Mechanics for Durability, Reliability and Safety, ECF (2012),
https://hdl.handle.net/21.15107/rcub_machinery_1593 .