TY  - CONF
AU  - Lazarevic, Mihailo
AU  - Radojević, Darko
AU  - Pišl, Stjepko
AU  - Živković, Nikola
PY  - 2024
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7858
AB  - The issue of human balancing in the sagittal plane using fractional order time delayed acceleration feedback is studied in this contribution. The problem of asymptotic stability of closed-loop fractional order neutral time delay system is solved by applying the D-decomposition approach. Stability regions in the control parameters space are determined using this method. Special attention was focused on the consideration of the influence of the time delay on the asymptotic stability of the system. Finally, simulation results are presented to illustrate the superiority and effectiveness of the proposed method.
PB  - IEEE  (Xplore)
C3  - Proceedings of 32nd Mediterranean Conference on Control and Automation (MED2024)
T1  - Fractional order time delayed acceleration feedback control of inverted pendulum system
EP  - 351
SP  - 346
DO  - 10.1109/MED61351.2024.10566149
ER  - 

@conference{
author = "Lazarevic, Mihailo and Radojević, Darko and Pišl, Stjepko and Živković, Nikola",
year = "2024",
abstract = "The issue of human balancing in the sagittal plane using fractional order time delayed acceleration feedback is studied in this contribution. The problem of asymptotic stability of closed-loop fractional order neutral time delay system is solved by applying the D-decomposition approach. Stability regions in the control parameters space are determined using this method. Special attention was focused on the consideration of the influence of the time delay on the asymptotic stability of the system. Finally, simulation results are presented to illustrate the superiority and effectiveness of the proposed method.",
publisher = "IEEE  (Xplore)",
journal = "Proceedings of 32nd Mediterranean Conference on Control and Automation (MED2024)",
title = "Fractional order time delayed acceleration feedback control of inverted pendulum system",
pages = "351-346",
doi = "10.1109/MED61351.2024.10566149"
}

Lazarevic, M., Radojević, D., Pišl, S.,& Živković, N.. (2024). Fractional order time delayed acceleration feedback control of inverted pendulum system. in Proceedings of 32nd Mediterranean Conference on Control and Automation (MED2024)
IEEE  (Xplore)., 346-351.
https://doi.org/10.1109/MED61351.2024.10566149

Lazarevic M, Radojević D, Pišl S, Živković N. Fractional order time delayed acceleration feedback control of inverted pendulum system. in Proceedings of 32nd Mediterranean Conference on Control and Automation (MED2024). 2024;:346-351.
doi:10.1109/MED61351.2024.10566149 .

Lazarevic, Mihailo, Radojević, Darko, Pišl, Stjepko, Živković, Nikola, "Fractional order time delayed acceleration feedback control of inverted pendulum system" in Proceedings of 32nd Mediterranean Conference on Control and Automation (MED2024) (2024):346-351,
https://doi.org/10.1109/MED61351.2024.10566149 . .

TY  - CONF
AU  - Živković, Nikola
AU  - Lazarević, Mihailo
AU  - Vidaković, Jelena
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6973
AB  - In this research paper, the application of Iterative Learning Control (ILC), an intelligent control
method, is suggested in the form of a fractional‐order PD‐type controller. The main task of the ILC controller is to reject process model uncertainties, which are often present in complex systems such as  various multibody systems, and to sequentially reduce a trajectory tracking error. As a control plant, an exoskeleton support arm with three degrees of freedom is used herein. The control scheme consists  of feedback linearization compensating for the known part of the dynamics model and the  feedforward ILC controller of the PDα‐type. The feedback part of the control system is the classical PD  controller. The feedforward control signal is filtered with a lowpass filter to avoid divergent behavior as iterations progress. Finally, simulation results are presented to demonstrate the proposed control system performance applied to the chosen control plant, as well as the achieved error convergence towards the steady‐state value for various values of the fractional order.
PB  - Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH
C3  - 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June
T1  - Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton
EP  - 337
SP  - 333
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6973
ER  - 

@conference{
author = "Živković, Nikola and Lazarević, Mihailo and Vidaković, Jelena",
year = "2023",
abstract = "In this research paper, the application of Iterative Learning Control (ILC), an intelligent control
method, is suggested in the form of a fractional‐order PD‐type controller. The main task of the ILC controller is to reject process model uncertainties, which are often present in complex systems such as  various multibody systems, and to sequentially reduce a trajectory tracking error. As a control plant, an exoskeleton support arm with three degrees of freedom is used herein. The control scheme consists  of feedback linearization compensating for the known part of the dynamics model and the  feedforward ILC controller of the PDα‐type. The feedback part of the control system is the classical PD  controller. The feedforward control signal is filtered with a lowpass filter to avoid divergent behavior as iterations progress. Finally, simulation results are presented to demonstrate the proposed control system performance applied to the chosen control plant, as well as the achieved error convergence towards the steady‐state value for various values of the fractional order.",
publisher = "Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH",
journal = "16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June",
title = "Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton",
pages = "337-333",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6973"
}

Živković, N., Lazarević, M.,& Vidaković, J.. (2023). Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton. in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June
Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH., 333-337.
https://hdl.handle.net/21.15107/rcub_machinery_6973

Živković N, Lazarević M, Vidaković J. Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton. in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June. 2023;:333-337.
https://hdl.handle.net/21.15107/rcub_machinery_6973 .

Živković, Nikola, Lazarević, Mihailo, Vidaković, Jelena, "Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton" in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June (2023):333-337,
https://hdl.handle.net/21.15107/rcub_machinery_6973 .

TY  - CONF
AU  - Dević, Andrija
AU  - Vidaković, Jelena
AU  - Živković, Nikola
AU  - Lazarević, Mihailo
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6972
AB  - Small‐size (desktop) robot arms are being increasingly used in research and education, where low cost implementation prevails over the need for high dynamic performance. This paper presents a
design of a control unit for a 6DoF desktop robot arm with cylindrical joints actuated with stepper
motors. Feedforward control, often chosen as a control strategy for stepper motors due to the
simplicity of control algorithms, as well as the cost‐effectiveness of the solution, is selected as the
control method. The applicative software with GUI developed in Matlab is presented. A trajectory
planner based on the solution of the inverse kinematics problem and the user‐selected joint velocity profile is implemented. In order to avoid step skipping occurrence, the torque in joints necessary to  produce the programmed joints motion have to be achievable by the installed stepper motors. As a  part of applicative software, the check on the feasibility of the programmed robot trajectories by numerical simulation of solution of inverse dynamics problem in Simscape Multibody is performed. The microcontroller is used as an interface device that controls the stepper motor drivers. The applicative software communicates with the microcontroller using the TCP protocol.
PB  - Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH
C3  - 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June
T1  - Synthesis of the control unit of the desktop robot arm actuated by stepper motors
EP  - 365
SP  - 361
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6972
ER  - 

@conference{
author = "Dević, Andrija and Vidaković, Jelena and Živković, Nikola and Lazarević, Mihailo",
year = "2023",
abstract = "Small‐size (desktop) robot arms are being increasingly used in research and education, where low cost implementation prevails over the need for high dynamic performance. This paper presents a
design of a control unit for a 6DoF desktop robot arm with cylindrical joints actuated with stepper
motors. Feedforward control, often chosen as a control strategy for stepper motors due to the
simplicity of control algorithms, as well as the cost‐effectiveness of the solution, is selected as the
control method. The applicative software with GUI developed in Matlab is presented. A trajectory
planner based on the solution of the inverse kinematics problem and the user‐selected joint velocity profile is implemented. In order to avoid step skipping occurrence, the torque in joints necessary to  produce the programmed joints motion have to be achievable by the installed stepper motors. As a  part of applicative software, the check on the feasibility of the programmed robot trajectories by numerical simulation of solution of inverse dynamics problem in Simscape Multibody is performed. The microcontroller is used as an interface device that controls the stepper motor drivers. The applicative software communicates with the microcontroller using the TCP protocol.",
publisher = "Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH",
journal = "16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June",
title = "Synthesis of the control unit of the desktop robot arm actuated by stepper motors",
pages = "365-361",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6972"
}

Dević, A., Vidaković, J., Živković, N.,& Lazarević, M.. (2023). Synthesis of the control unit of the desktop robot arm actuated by stepper motors. in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June
Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH., 361-365.
https://hdl.handle.net/21.15107/rcub_machinery_6972

Dević A, Vidaković J, Živković N, Lazarević M. Synthesis of the control unit of the desktop robot arm actuated by stepper motors. in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June. 2023;:361-365.
https://hdl.handle.net/21.15107/rcub_machinery_6972 .

Dević, Andrija, Vidaković, Jelena, Živković, Nikola, Lazarević, Mihailo, "Synthesis of the control unit of the desktop robot arm actuated by stepper motors" in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June (2023):361-365,
https://hdl.handle.net/21.15107/rcub_machinery_6972 .

TY  - CONF
AU  - Dević, Andrija
AU  - Vidaković, Jelena
AU  - Živković, Nikola
AU  - Lazarević, Mihailo
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7235
AB  - Robot arms are complex mechatronic systems whose design is a challenging and time-consuming task. Recently, low-cost small-size desktop robot arms have been increasingly used in education, research, households, etc. This paper presents the systematic design of a 6DoF desktop robot arm with cylindrical joints actuated with stepper motors. Within the design, the main goals were to achieve cost-effectiveness of the construction, to enable the simplicity of the control unit, and to achieve fast dynamics and good repeatability. The virtual simulation system of the manipulator, built using the integration of 3D design and modern multibody simulation environment, improves the robot design and the efficiency of the robot control system. 3D modeling of the robot arm is performed in SolidWorks. The location of each motor as well as the selection of the power transmission method achieve a reduction of the required moments in the joints during the robot movement. Verifying of motors’ dimensioning is performed using numerical simulation of robot inverse dynamics problem based on the SolidWorks 3D robot model for the desired robot operations within the Simulink environment by using Simscape Multibody.
PB  - Belgrade: Serbian Society of Mechanics
C3  - 9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
T1  - SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK
EP  - 319
IS  - ID122
SP  - 326
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7235
ER  - 

@conference{
author = "Dević, Andrija and Vidaković, Jelena and Živković, Nikola and Lazarević, Mihailo",
year = "2023",
abstract = "Robot arms are complex mechatronic systems whose design is a challenging and time-consuming task. Recently, low-cost small-size desktop robot arms have been increasingly used in education, research, households, etc. This paper presents the systematic design of a 6DoF desktop robot arm with cylindrical joints actuated with stepper motors. Within the design, the main goals were to achieve cost-effectiveness of the construction, to enable the simplicity of the control unit, and to achieve fast dynamics and good repeatability. The virtual simulation system of the manipulator, built using the integration of 3D design and modern multibody simulation environment, improves the robot design and the efficiency of the robot control system. 3D modeling of the robot arm is performed in SolidWorks. The location of each motor as well as the selection of the power transmission method achieve a reduction of the required moments in the joints during the robot movement. Verifying of motors’ dimensioning is performed using numerical simulation of robot inverse dynamics problem based on the SolidWorks 3D robot model for the desired robot operations within the Simulink environment by using Simscape Multibody.",
publisher = "Belgrade: Serbian Society of Mechanics",
journal = "9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023",
title = "SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK",
pages = "319-326",
number = "ID122",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7235"
}

Dević, A., Vidaković, J., Živković, N.,& Lazarević, M.. (2023). SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK. in 9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
Belgrade: Serbian Society of Mechanics.(ID122), 326-319.
https://hdl.handle.net/21.15107/rcub_machinery_7235

Dević A, Vidaković J, Živković N, Lazarević M. SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK. in 9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023. 2023;(ID122):326-319.
https://hdl.handle.net/21.15107/rcub_machinery_7235 .

Dević, Andrija, Vidaković, Jelena, Živković, Nikola, Lazarević, Mihailo, "SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK" in 9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023, no. ID122 (2023):326-319,
https://hdl.handle.net/21.15107/rcub_machinery_7235 .

TY  - CONF
AU  - Živković, Nikola
AU  - Lazarević, Mihailo
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7236
AB  - This paper proposes a Fractional-order Iterative Learning Control (FOILC) algorithm combined with feedback linearization for the upper limbs rehabilitation exoskeleton. The control system is divided into an inner and outer loop, where the feedback linearization controller closes the inner loop linearizing the nominal part of the robot dynamics. The outer loop consists of feedforward action and classical feedback controller with Proportional and Derivative action (PD). Feedforward action is proposed as the FOILC of the PDα-type, where α is the fractional derivative order. Since feedback linearization control action can cancel only a nominal part of the model dynamics, uncertainty is introduced as an additive uncertainty. The uncertainty is defined as a change in the mass parameter of each exoskeleton link [1]. The control object is a three-DoF open-chain exoskeleton model. The mathematical model of the exoskeleton is modeled in Simulink using Robotics Toolbox. The feedback linearization controller is the model-based controller, which accounts for the known part of the dynamics leaving the uncertain part uncontrolled. A classical PD feedback controller is introduced alongside FOILC in feedforward to stabilize and improve the tracking performance of the linearized system with uncertainties. The main advantage of FOILC is robustness to uncertainty and disturbances that are non-varying along the iteration axis. In this study, we chose the FOILC controller, a variation of ILC, to improve trajectory tracking with present uncertainties in the exoskeleton system model. The FOILC controller consists of the previous control signal, proportional and fractional order derivative terms. The learning gains and fractional order of the FOILC are optimized using the Particle Swarm Optimization (PSO) method. PSO is a population-based stochastic optimization method inspired by the social behavior of birds flocking or fish schooling. The main idea of PSO is to search for an optimal solution by simulating the social behavior of particles moving in a multi-dimensional search space. PSO is particularly well-suited for this problem since we have nine parameters in total for tuning. This research aims to investigate the behavior of the error convergence over iterations with optimized learning gains and fractional order of the FOILC controller for various percentages of the mass parameter change. The numerical simulation is conducted in Matlab and Simulink with the time step Ts = 0.005s. The desired trajectory is defined in the joint space as a fifth-order polynomial. The infinite norm of the error vector (max norm) for each iteration is used as a measure of the performance of the proposed control system. Figure 1. shows the error norm comparison between different percentages of mass uncertainty, and Figure 2. shows the difference between PSO-optimized FOILC and non-optimized integer order ILC for mass uncertainty equal to 30 percent of the original mass of the links. From previous diagrams it is clear that PSO optimized FOILC converges faster than its non-optimized integer order counterpart and that PSO optimized FOILC displays satisfactory robustness to different mass uncertainties.
PB  - Belgrade: Serbian Society of Mechanics
C3  - Proceedings of 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
T1  - PSO-OPTIMIZED FRACTIONAL ORDER ITERATIVE LEARNING CONTROLLER FOR 3DOF UNCERTAIN EXOSKELETON SYSTEM
EP  - 460
IS  - ID.123
SP  - 459
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7236
ER  - 

@conference{
author = "Živković, Nikola and Lazarević, Mihailo",
year = "2023",
abstract = "This paper proposes a Fractional-order Iterative Learning Control (FOILC) algorithm combined with feedback linearization for the upper limbs rehabilitation exoskeleton. The control system is divided into an inner and outer loop, where the feedback linearization controller closes the inner loop linearizing the nominal part of the robot dynamics. The outer loop consists of feedforward action and classical feedback controller with Proportional and Derivative action (PD). Feedforward action is proposed as the FOILC of the PDα-type, where α is the fractional derivative order. Since feedback linearization control action can cancel only a nominal part of the model dynamics, uncertainty is introduced as an additive uncertainty. The uncertainty is defined as a change in the mass parameter of each exoskeleton link [1]. The control object is a three-DoF open-chain exoskeleton model. The mathematical model of the exoskeleton is modeled in Simulink using Robotics Toolbox. The feedback linearization controller is the model-based controller, which accounts for the known part of the dynamics leaving the uncertain part uncontrolled. A classical PD feedback controller is introduced alongside FOILC in feedforward to stabilize and improve the tracking performance of the linearized system with uncertainties. The main advantage of FOILC is robustness to uncertainty and disturbances that are non-varying along the iteration axis. In this study, we chose the FOILC controller, a variation of ILC, to improve trajectory tracking with present uncertainties in the exoskeleton system model. The FOILC controller consists of the previous control signal, proportional and fractional order derivative terms. The learning gains and fractional order of the FOILC are optimized using the Particle Swarm Optimization (PSO) method. PSO is a population-based stochastic optimization method inspired by the social behavior of birds flocking or fish schooling. The main idea of PSO is to search for an optimal solution by simulating the social behavior of particles moving in a multi-dimensional search space. PSO is particularly well-suited for this problem since we have nine parameters in total for tuning. This research aims to investigate the behavior of the error convergence over iterations with optimized learning gains and fractional order of the FOILC controller for various percentages of the mass parameter change. The numerical simulation is conducted in Matlab and Simulink with the time step Ts = 0.005s. The desired trajectory is defined in the joint space as a fifth-order polynomial. The infinite norm of the error vector (max norm) for each iteration is used as a measure of the performance of the proposed control system. Figure 1. shows the error norm comparison between different percentages of mass uncertainty, and Figure 2. shows the difference between PSO-optimized FOILC and non-optimized integer order ILC for mass uncertainty equal to 30 percent of the original mass of the links. From previous diagrams it is clear that PSO optimized FOILC converges faster than its non-optimized integer order counterpart and that PSO optimized FOILC displays satisfactory robustness to different mass uncertainties.",
publisher = "Belgrade: Serbian Society of Mechanics",
journal = "Proceedings of 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023",
title = "PSO-OPTIMIZED FRACTIONAL ORDER ITERATIVE LEARNING CONTROLLER FOR 3DOF UNCERTAIN EXOSKELETON SYSTEM",
pages = "460-459",
number = "ID.123",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7236"
}

Živković, N.,& Lazarević, M.. (2023). PSO-OPTIMIZED FRACTIONAL ORDER ITERATIVE LEARNING CONTROLLER FOR 3DOF UNCERTAIN EXOSKELETON SYSTEM. in Proceedings of 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
Belgrade: Serbian Society of Mechanics.(ID.123), 459-460.
https://hdl.handle.net/21.15107/rcub_machinery_7236

Živković N, Lazarević M. PSO-OPTIMIZED FRACTIONAL ORDER ITERATIVE LEARNING CONTROLLER FOR 3DOF UNCERTAIN EXOSKELETON SYSTEM. in Proceedings of 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023. 2023;(ID.123):459-460.
https://hdl.handle.net/21.15107/rcub_machinery_7236 .

Živković, Nikola, Lazarević, Mihailo, "PSO-OPTIMIZED FRACTIONAL ORDER ITERATIVE LEARNING CONTROLLER FOR 3DOF UNCERTAIN EXOSKELETON SYSTEM" in Proceedings of 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023, no. ID.123 (2023):459-460,
https://hdl.handle.net/21.15107/rcub_machinery_7236 .

TY  - CONF
AU  - Milutinović, Nada
AU  - Cvetinović, Dejan
AU  - Erić, Aleksandar M.
AU  - Živković, Nikola
AU  - Rudonja, Nedžad
AU  - Gojak, Milan
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5242
AB  - Methodology using the thermodynamic equilibrium composition calculation to optimise the high-temperature organic waste treatment in thermal plasma was developed. The methodology was demonstrated in the case of high-temperature treatment of polychlorinated biphenyl (PCB) in a thermal plasma reactor using two different working media, air and water vapour. Calculated results obtained in this analysis show composition of combustible and harmful chemical species formed in the PCB oil decomposition process. Optimisation of the composition of the combustibles can suggest the most economical parameters of the process. Toxic substances emissions are one of the limiting factors in the process of optimization. This analysis can be considered as the first step towards defining optimal operating parameters of the pilot-plasma facility for waste treatment from the ecological and economical aspects.
PB  - Society of Thermal Engineers of Serbia
C3  - Full Papers Proceedings of Power Plants 2021
T1  - THERMODYNAMIC TOOLS FOR OPTIMISATION OF THE HIGH-TEMPERATURE DECOMPOSITION OF PCB IN THERMAL PLASMA
EP  - 296
SP  - 286
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5242
ER  - 

@conference{
author = "Milutinović, Nada and Cvetinović, Dejan and Erić, Aleksandar M. and Živković, Nikola and Rudonja, Nedžad and Gojak, Milan",
year = "2021",
abstract = "Methodology using the thermodynamic equilibrium composition calculation to optimise the high-temperature organic waste treatment in thermal plasma was developed. The methodology was demonstrated in the case of high-temperature treatment of polychlorinated biphenyl (PCB) in a thermal plasma reactor using two different working media, air and water vapour. Calculated results obtained in this analysis show composition of combustible and harmful chemical species formed in the PCB oil decomposition process. Optimisation of the composition of the combustibles can suggest the most economical parameters of the process. Toxic substances emissions are one of the limiting factors in the process of optimization. This analysis can be considered as the first step towards defining optimal operating parameters of the pilot-plasma facility for waste treatment from the ecological and economical aspects.",
publisher = "Society of Thermal Engineers of Serbia",
journal = "Full Papers Proceedings of Power Plants 2021",
title = "THERMODYNAMIC TOOLS FOR OPTIMISATION OF THE HIGH-TEMPERATURE DECOMPOSITION OF PCB IN THERMAL PLASMA",
pages = "296-286",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5242"
}

Milutinović, N., Cvetinović, D., Erić, A. M., Živković, N., Rudonja, N.,& Gojak, M.. (2021). THERMODYNAMIC TOOLS FOR OPTIMISATION OF THE HIGH-TEMPERATURE DECOMPOSITION OF PCB IN THERMAL PLASMA. in Full Papers Proceedings of Power Plants 2021
Society of Thermal Engineers of Serbia., 286-296.
https://hdl.handle.net/21.15107/rcub_machinery_5242

Milutinović N, Cvetinović D, Erić AM, Živković N, Rudonja N, Gojak M. THERMODYNAMIC TOOLS FOR OPTIMISATION OF THE HIGH-TEMPERATURE DECOMPOSITION OF PCB IN THERMAL PLASMA. in Full Papers Proceedings of Power Plants 2021. 2021;:286-296.
https://hdl.handle.net/21.15107/rcub_machinery_5242 .

Milutinović, Nada, Cvetinović, Dejan, Erić, Aleksandar M., Živković, Nikola, Rudonja, Nedžad, Gojak, Milan, "THERMODYNAMIC TOOLS FOR OPTIMISATION OF THE HIGH-TEMPERATURE DECOMPOSITION OF PCB IN THERMAL PLASMA" in Full Papers Proceedings of Power Plants 2021 (2021):286-296,
https://hdl.handle.net/21.15107/rcub_machinery_5242 .

TY  - JOUR
AU  - Lazarević, Mihailo
AU  - Živković, Nikola
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3361
AB  - U ovom radu predložen je napredni iterativni algoritam kontrole učenja za rehabilitacione egzoskelete. Pojednostavljeni biomehanički model koristi se kao objekt upravljanja kako bi se proverila izvodljivost algoritma upravljanja. Projektovano upravljanje je predloženo kao dvostepeni regulator koji se sastoji od unutrašnje i spoljašnje petlje. U unutrašnjoj petlji primjenjuje se linearizacija kako bi se eliminisala nelinearnost modela. U spoljašnjoj petlji napredni iterativni algoritam upravljanja učenja tipa sgnPDD2 primjenjuje se kao kontroler u direktnoj grani, a klasični PD kontroler kao kontroler u povratnoj grani. Dodaju se nesigurnosti kako bi se ispitala robusnost projektovanog kontrolera. Sprovedena je numerička simulacija.
AB  - In this paper an advanced iterative learning control algorithm for rehabilitation exoskeletons is proposed. A simplified biomechanical model is used as the control object to verify control algorithm feasibility. The control design is proposed as two level controller consisting of inner and outer loop. In the inner loop the feedback linearization is applied to cancel out the model nonlinearities. In the outer loop the advanced iterative learning control algorithm of sgnPDD2 type is applied as a feedforward controller and classical PD controller as a feedback controller. Uncertainties are added in order to examine the controller design robustness. Numerical simulation is carried out.
PB  - Vojnotehnički institut, Beograd
T2  - Scientific Technical Review
T1  - Napredni iterativni algoritam upravljanja učenjem za rehabilitacione egzoskelete
T1  - The advanced iterative learning control algorithm for rehabilitation exoskeletons
EP  - 34
IS  - 3
SP  - 29
VL  - 70
DO  - 10.5937/str2003029L
ER  - 

@article{
author = "Lazarević, Mihailo and Živković, Nikola",
year = "2020",
abstract = "U ovom radu predložen je napredni iterativni algoritam kontrole učenja za rehabilitacione egzoskelete. Pojednostavljeni biomehanički model koristi se kao objekt upravljanja kako bi se proverila izvodljivost algoritma upravljanja. Projektovano upravljanje je predloženo kao dvostepeni regulator koji se sastoji od unutrašnje i spoljašnje petlje. U unutrašnjoj petlji primjenjuje se linearizacija kako bi se eliminisala nelinearnost modela. U spoljašnjoj petlji napredni iterativni algoritam upravljanja učenja tipa sgnPDD2 primjenjuje se kao kontroler u direktnoj grani, a klasični PD kontroler kao kontroler u povratnoj grani. Dodaju se nesigurnosti kako bi se ispitala robusnost projektovanog kontrolera. Sprovedena je numerička simulacija., In this paper an advanced iterative learning control algorithm for rehabilitation exoskeletons is proposed. A simplified biomechanical model is used as the control object to verify control algorithm feasibility. The control design is proposed as two level controller consisting of inner and outer loop. In the inner loop the feedback linearization is applied to cancel out the model nonlinearities. In the outer loop the advanced iterative learning control algorithm of sgnPDD2 type is applied as a feedforward controller and classical PD controller as a feedback controller. Uncertainties are added in order to examine the controller design robustness. Numerical simulation is carried out.",
publisher = "Vojnotehnički institut, Beograd",
journal = "Scientific Technical Review",
title = "Napredni iterativni algoritam upravljanja učenjem za rehabilitacione egzoskelete, The advanced iterative learning control algorithm for rehabilitation exoskeletons",
pages = "34-29",
number = "3",
volume = "70",
doi = "10.5937/str2003029L"
}

Lazarević, M.,& Živković, N.. (2020). Napredni iterativni algoritam upravljanja učenjem za rehabilitacione egzoskelete. in Scientific Technical Review
Vojnotehnički institut, Beograd., 70(3), 29-34.
https://doi.org/10.5937/str2003029L

Lazarević M, Živković N. Napredni iterativni algoritam upravljanja učenjem za rehabilitacione egzoskelete. in Scientific Technical Review. 2020;70(3):29-34.
doi:10.5937/str2003029L .

Lazarević, Mihailo, Živković, Nikola, "Napredni iterativni algoritam upravljanja učenjem za rehabilitacione egzoskelete" in Scientific Technical Review, 70, no. 3 (2020):29-34,
https://doi.org/10.5937/str2003029L . .