TY  - JOUR
AU  - Durdević, Đorđe
AU  - Sedmak, Simon
AU  - Đurđević, Andrijana
AU  - Anđelić, Nina
AU  - Maneski, Taško
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3515
AB  - Development and calculation of the base supporting struc-ture used for mining equipment is the aim of the paper. The base structure is intended for the installation of electronic communication and power equipment and devices that supply and manage mining equipment. The first part of the paper covers the existing solutions, and the second part shows the development of a new solution. Design solution of a new base structure is presented, a calculation of the base according to valid standards and regulations, and the numerical determination of equivalent stress and strain by Abaqus (R) software. Finally, the performed solution is given.
PB  - Institut za ispitivanje materijala, Beograd
T2  - Structural Integrity and Life-Integritet I Vek Konstrukcija
T1  - Development and calculation of supporting structure for mining power equipment
EP  - 177
IS  - 2
SP  - 173
VL  - 21
UR  - https://hdl.handle.net/21.15107/rcub_machinery_3515
ER  - 

@article{
author = "Durdević, Đorđe and Sedmak, Simon and Đurđević, Andrijana and Anđelić, Nina and Maneski, Taško",
year = "2021",
abstract = "Development and calculation of the base supporting struc-ture used for mining equipment is the aim of the paper. The base structure is intended for the installation of electronic communication and power equipment and devices that supply and manage mining equipment. The first part of the paper covers the existing solutions, and the second part shows the development of a new solution. Design solution of a new base structure is presented, a calculation of the base according to valid standards and regulations, and the numerical determination of equivalent stress and strain by Abaqus (R) software. Finally, the performed solution is given.",
publisher = "Institut za ispitivanje materijala, Beograd",
journal = "Structural Integrity and Life-Integritet I Vek Konstrukcija",
title = "Development and calculation of supporting structure for mining power equipment",
pages = "177-173",
number = "2",
volume = "21",
url = "https://hdl.handle.net/21.15107/rcub_machinery_3515"
}

Durdević, Đ., Sedmak, S., Đurđević, A., Anđelić, N.,& Maneski, T.. (2021). Development and calculation of supporting structure for mining power equipment. in Structural Integrity and Life-Integritet I Vek Konstrukcija
Institut za ispitivanje materijala, Beograd., 21(2), 173-177.
https://hdl.handle.net/21.15107/rcub_machinery_3515

Durdević Đ, Sedmak S, Đurđević A, Anđelić N, Maneski T. Development and calculation of supporting structure for mining power equipment. in Structural Integrity and Life-Integritet I Vek Konstrukcija. 2021;21(2):173-177.
https://hdl.handle.net/21.15107/rcub_machinery_3515 .

Durdević, Đorđe, Sedmak, Simon, Đurđević, Andrijana, Anđelić, Nina, Maneski, Taško, "Development and calculation of supporting structure for mining power equipment" in Structural Integrity and Life-Integritet I Vek Konstrukcija, 21, no. 2 (2021):173-177,
https://hdl.handle.net/21.15107/rcub_machinery_3515 .

TY  - JOUR
AU  - Durdević, Đorđe
AU  - Đurđević, Andrijana
AU  - Anđelić, Nina
AU  - Petrović, Ana
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3567
AB  - The present paper describes the numerical and experimental methodology for the analysis of stress and deformation state in structural elements with geometrical discontinuities. Research is based on structural elements of the connection lug type and stress and deformation state. Numerical analysis is conducted by applying the finite ware package. Experiments are performed at the Laboratory for Stress and Deformation Measurements, Faculty of Mechanical Engineering, Belgrade, using GOM equipment the framework of the paper.
PB  - Institut za ispitivanje materijala, Beograd
T2  - Structural Integrity and Life-Integritet I Vek Konstrukcija
T1  - Numerical-experimental determination of stress and deformation state in connection lugs
EP  - 172
IS  - 2
SP  - 169
VL  - 21
UR  - https://hdl.handle.net/21.15107/rcub_machinery_3567
ER  - 

@article{
author = "Durdević, Đorđe and Đurđević, Andrijana and Anđelić, Nina and Petrović, Ana",
year = "2021",
abstract = "The present paper describes the numerical and experimental methodology for the analysis of stress and deformation state in structural elements with geometrical discontinuities. Research is based on structural elements of the connection lug type and stress and deformation state. Numerical analysis is conducted by applying the finite ware package. Experiments are performed at the Laboratory for Stress and Deformation Measurements, Faculty of Mechanical Engineering, Belgrade, using GOM equipment the framework of the paper.",
publisher = "Institut za ispitivanje materijala, Beograd",
journal = "Structural Integrity and Life-Integritet I Vek Konstrukcija",
title = "Numerical-experimental determination of stress and deformation state in connection lugs",
pages = "172-169",
number = "2",
volume = "21",
url = "https://hdl.handle.net/21.15107/rcub_machinery_3567"
}

Durdević, Đ., Đurđević, A., Anđelić, N.,& Petrović, A.. (2021). Numerical-experimental determination of stress and deformation state in connection lugs. in Structural Integrity and Life-Integritet I Vek Konstrukcija
Institut za ispitivanje materijala, Beograd., 21(2), 169-172.
https://hdl.handle.net/21.15107/rcub_machinery_3567

Durdević Đ, Đurđević A, Anđelić N, Petrović A. Numerical-experimental determination of stress and deformation state in connection lugs. in Structural Integrity and Life-Integritet I Vek Konstrukcija. 2021;21(2):169-172.
https://hdl.handle.net/21.15107/rcub_machinery_3567 .

Durdević, Đorđe, Đurđević, Andrijana, Anđelić, Nina, Petrović, Ana, "Numerical-experimental determination of stress and deformation state in connection lugs" in Structural Integrity and Life-Integritet I Vek Konstrukcija, 21, no. 2 (2021):169-172,
https://hdl.handle.net/21.15107/rcub_machinery_3567 .

TY  - JOUR
AU  - Durdević, Đorđe
AU  - Anđelić, Nina
AU  - Milošević-Mitić, Vesna
AU  - Maneski, Taško
AU  - Rakin, Marko
AU  - Đurđević, Andrijana
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3221
AB  - The purpose of this work is to present analytical and numerical determination of equivalent stress and deformation of open section thin-walled U and Z cantilever beams loaded with torsion. This work can be divided into two parts. In the first part of this paper, equivalent stress and deformation are obtained by analytical calculation for encastered model over the whole cross section. In the second part, the finite element method is applied for four different encastered models and the obtained results are compared with the analytical calculation.
PB  - Institut za ispitivanje materijala, Beograd
T2  - Structural Integrity and Life
T1  - Influence of encastering on thin-walled cantilever beams with u and z profiles on the magnitude of equivalent stress and deformation
EP  - 254
IS  - 3
SP  - 251
VL  - 19
UR  - https://hdl.handle.net/21.15107/rcub_technorep_4196
ER  - 

@article{
author = "Durdević, Đorđe and Anđelić, Nina and Milošević-Mitić, Vesna and Maneski, Taško and Rakin, Marko and Đurđević, Andrijana",
year = "2019",
abstract = "The purpose of this work is to present analytical and numerical determination of equivalent stress and deformation of open section thin-walled U and Z cantilever beams loaded with torsion. This work can be divided into two parts. In the first part of this paper, equivalent stress and deformation are obtained by analytical calculation for encastered model over the whole cross section. In the second part, the finite element method is applied for four different encastered models and the obtained results are compared with the analytical calculation.",
publisher = "Institut za ispitivanje materijala, Beograd",
journal = "Structural Integrity and Life",
title = "Influence of encastering on thin-walled cantilever beams with u and z profiles on the magnitude of equivalent stress and deformation",
pages = "254-251",
number = "3",
volume = "19",
url = "https://hdl.handle.net/21.15107/rcub_technorep_4196"
}

Durdević, Đ., Anđelić, N., Milošević-Mitić, V., Maneski, T., Rakin, M.,& Đurđević, A.. (2019). Influence of encastering on thin-walled cantilever beams with u and z profiles on the magnitude of equivalent stress and deformation. in Structural Integrity and Life
Institut za ispitivanje materijala, Beograd., 19(3), 251-254.
https://hdl.handle.net/21.15107/rcub_technorep_4196

Durdević Đ, Anđelić N, Milošević-Mitić V, Maneski T, Rakin M, Đurđević A. Influence of encastering on thin-walled cantilever beams with u and z profiles on the magnitude of equivalent stress and deformation. in Structural Integrity and Life. 2019;19(3):251-254.
https://hdl.handle.net/21.15107/rcub_technorep_4196 .

Durdević, Đorđe, Anđelić, Nina, Milošević-Mitić, Vesna, Maneski, Taško, Rakin, Marko, Đurđević, Andrijana, "Influence of encastering on thin-walled cantilever beams with u and z profiles on the magnitude of equivalent stress and deformation" in Structural Integrity and Life, 19, no. 3 (2019):251-254,
https://hdl.handle.net/21.15107/rcub_technorep_4196 .

TY  - JOUR
AU  - Durdević, Đorđe
AU  - Anđelić, Nina
AU  - Maneski, Taško
AU  - Milošević-Mitić, Vesna
AU  - Đurđević, Andrijana
AU  - Konjatić, Pejo
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3113
AB  - The present paper describes numerical and experimental methodology for the analysis of stress and deformation state in structural elements with geometrical discontinuities. The research is based on structural elements of the connecting lug type. The stress and deformation state was determined as the contact area size between the axle and the connecting lug was changing. Numerical analysis was conducted by applying the finite element method in a ''KOMIPS'' software package. Experiments were performed at the Laboratory for stress and deformation measurements, Faculty of Mechanical Engineering, University of Belgrade, using ''GOM'' equipment and ''ARAMIS'' software application (DIC). This paper demonstrates how it is possible to anticipate the results by applying FEM. A short review of current research in the field of structural elements with geometrical discontinuities is given within the framework of the paper.
PB  - Univ Osijek, Tech Fac, Slavonski Brod
T2  - Tehnički vjesnik
T1  - Numerical-Experimental Determination of Stress and Deformation State in Connecting Lugs with the Effect of Contact Area Size
EP  - 384
IS  - 2
SP  - 380
VL  - 26
DO  - 10.17559/TV-20180122105145
ER  - 

@article{
author = "Durdević, Đorđe and Anđelić, Nina and Maneski, Taško and Milošević-Mitić, Vesna and Đurđević, Andrijana and Konjatić, Pejo",
year = "2019",
abstract = "The present paper describes numerical and experimental methodology for the analysis of stress and deformation state in structural elements with geometrical discontinuities. The research is based on structural elements of the connecting lug type. The stress and deformation state was determined as the contact area size between the axle and the connecting lug was changing. Numerical analysis was conducted by applying the finite element method in a ''KOMIPS'' software package. Experiments were performed at the Laboratory for stress and deformation measurements, Faculty of Mechanical Engineering, University of Belgrade, using ''GOM'' equipment and ''ARAMIS'' software application (DIC). This paper demonstrates how it is possible to anticipate the results by applying FEM. A short review of current research in the field of structural elements with geometrical discontinuities is given within the framework of the paper.",
publisher = "Univ Osijek, Tech Fac, Slavonski Brod",
journal = "Tehnički vjesnik",
title = "Numerical-Experimental Determination of Stress and Deformation State in Connecting Lugs with the Effect of Contact Area Size",
pages = "384-380",
number = "2",
volume = "26",
doi = "10.17559/TV-20180122105145"
}

Durdević, Đ., Anđelić, N., Maneski, T., Milošević-Mitić, V., Đurđević, A.,& Konjatić, P.. (2019). Numerical-Experimental Determination of Stress and Deformation State in Connecting Lugs with the Effect of Contact Area Size. in Tehnički vjesnik
Univ Osijek, Tech Fac, Slavonski Brod., 26(2), 380-384.
https://doi.org/10.17559/TV-20180122105145

Durdević Đ, Anđelić N, Maneski T, Milošević-Mitić V, Đurđević A, Konjatić P. Numerical-Experimental Determination of Stress and Deformation State in Connecting Lugs with the Effect of Contact Area Size. in Tehnički vjesnik. 2019;26(2):380-384.
doi:10.17559/TV-20180122105145 .

Durdević, Đorđe, Anđelić, Nina, Maneski, Taško, Milošević-Mitić, Vesna, Đurđević, Andrijana, Konjatić, Pejo, "Numerical-Experimental Determination of Stress and Deformation State in Connecting Lugs with the Effect of Contact Area Size" in Tehnički vjesnik, 26, no. 2 (2019):380-384,
https://doi.org/10.17559/TV-20180122105145 . .

TY  - CONF
AU  - Durdević, Đorđe
AU  - Anđelić, Nina
AU  - Maneski, Taško
AU  - Milošević-Mitić, Vesna
AU  - Petrović, Ana
AU  - Đurđević, Andrijana
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2811
AB  - The present paper describes numerical and experimental methodology and development of the model for stress and deformation state analysis of the connecting lug of container terminals. Numerical analysis was conducted by applying the finite element method in a "KOMI'S" software package. Experiments were performed at the Laboratory for stress and deformation measurements, Faculty of Mechanical Engineering, Belgrade University, using "GOM" equipment and "ARAMS" software application. This paper demonstrates how it is possible to anticipate the results by applying FEM. This paper will present how experimental results can be predicted using the finite element method. The paper presents an overview of the existing research and review of previous results achieved in this field. Container terminal used to supply electrical energy and management system of conveyor belts that are used in the exploitation of the mining basins. Stress and deformation state analysis of the connecting lugs is carried out at the loading of the container.
PB  - Elsevier Science Bv, Amsterdam
C3  - Procedia Structural Integrity - ECF22 - Loading and environmental effects on structural integrity
T1  - Development of numerical-experimental model of connecting lugs and application on the lugs calculation of container terminals
EP  - 1681
SP  - 1676
VL  - 13
DO  - 10.1016/j.prostr.2018.12.350
ER  - 

@conference{
author = "Durdević, Đorđe and Anđelić, Nina and Maneski, Taško and Milošević-Mitić, Vesna and Petrović, Ana and Đurđević, Andrijana",
year = "2018",
abstract = "The present paper describes numerical and experimental methodology and development of the model for stress and deformation state analysis of the connecting lug of container terminals. Numerical analysis was conducted by applying the finite element method in a "KOMI'S" software package. Experiments were performed at the Laboratory for stress and deformation measurements, Faculty of Mechanical Engineering, Belgrade University, using "GOM" equipment and "ARAMS" software application. This paper demonstrates how it is possible to anticipate the results by applying FEM. This paper will present how experimental results can be predicted using the finite element method. The paper presents an overview of the existing research and review of previous results achieved in this field. Container terminal used to supply electrical energy and management system of conveyor belts that are used in the exploitation of the mining basins. Stress and deformation state analysis of the connecting lugs is carried out at the loading of the container.",
publisher = "Elsevier Science Bv, Amsterdam",
journal = "Procedia Structural Integrity - ECF22 - Loading and environmental effects on structural integrity",
title = "Development of numerical-experimental model of connecting lugs and application on the lugs calculation of container terminals",
pages = "1681-1676",
volume = "13",
doi = "10.1016/j.prostr.2018.12.350"
}

Durdević, Đ., Anđelić, N., Maneski, T., Milošević-Mitić, V., Petrović, A.,& Đurđević, A.. (2018). Development of numerical-experimental model of connecting lugs and application on the lugs calculation of container terminals. in Procedia Structural Integrity - ECF22 - Loading and environmental effects on structural integrity
Elsevier Science Bv, Amsterdam., 13, 1676-1681.
https://doi.org/10.1016/j.prostr.2018.12.350

Durdević Đ, Anđelić N, Maneski T, Milošević-Mitić V, Petrović A, Đurđević A. Development of numerical-experimental model of connecting lugs and application on the lugs calculation of container terminals. in Procedia Structural Integrity - ECF22 - Loading and environmental effects on structural integrity. 2018;13:1676-1681.
doi:10.1016/j.prostr.2018.12.350 .

Durdević, Đorđe, Anđelić, Nina, Maneski, Taško, Milošević-Mitić, Vesna, Petrović, Ana, Đurđević, Andrijana, "Development of numerical-experimental model of connecting lugs and application on the lugs calculation of container terminals" in Procedia Structural Integrity - ECF22 - Loading and environmental effects on structural integrity, 13 (2018):1676-1681,
https://doi.org/10.1016/j.prostr.2018.12.350 . .

TY  - CONF
AU  - Đurđević, Andrijana
AU  - Sedmak, Aleksandar
AU  - Zivković, Aleksandar
AU  - Durdević, Đorđe
AU  - Marković, Milan
AU  - Milcić, Miodrag
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2810
AB  - The results of research regarding the friction stir welding process of T-joints are presented in this paper. Experimental welding of two and three aluminium plates were performed in order to obtain T-joints. Microhardness measuring and macrostructural examinations of welded T-joints of aluminium alloy are processed. All phases of the welding process are monitored by visual control.
PB  - Elsevier Science Bv, Amsterdam
C3  - Procedia Structural Integrity - ECF22 - Loading and environmental effects on structural integrity
T1  - Microhardness and Macrostructures of Friction Stir Welded T-joints
EP  - 429
SP  - 424
VL  - 13
DO  - 10.1016/j.prostr.2018.12.071
ER  - 

@conference{
author = "Đurđević, Andrijana and Sedmak, Aleksandar and Zivković, Aleksandar and Durdević, Đorđe and Marković, Milan and Milcić, Miodrag",
year = "2018",
abstract = "The results of research regarding the friction stir welding process of T-joints are presented in this paper. Experimental welding of two and three aluminium plates were performed in order to obtain T-joints. Microhardness measuring and macrostructural examinations of welded T-joints of aluminium alloy are processed. All phases of the welding process are monitored by visual control.",
publisher = "Elsevier Science Bv, Amsterdam",
journal = "Procedia Structural Integrity - ECF22 - Loading and environmental effects on structural integrity",
title = "Microhardness and Macrostructures of Friction Stir Welded T-joints",
pages = "429-424",
volume = "13",
doi = "10.1016/j.prostr.2018.12.071"
}

Đurđević, A., Sedmak, A., Zivković, A., Durdević, Đ., Marković, M.,& Milcić, M.. (2018). Microhardness and Macrostructures of Friction Stir Welded T-joints. in Procedia Structural Integrity - ECF22 - Loading and environmental effects on structural integrity
Elsevier Science Bv, Amsterdam., 13, 424-429.
https://doi.org/10.1016/j.prostr.2018.12.071

Đurđević A, Sedmak A, Zivković A, Durdević Đ, Marković M, Milcić M. Microhardness and Macrostructures of Friction Stir Welded T-joints. in Procedia Structural Integrity - ECF22 - Loading and environmental effects on structural integrity. 2018;13:424-429.
doi:10.1016/j.prostr.2018.12.071 .

Đurđević, Andrijana, Sedmak, Aleksandar, Zivković, Aleksandar, Durdević, Đorđe, Marković, Milan, Milcić, Miodrag, "Microhardness and Macrostructures of Friction Stir Welded T-joints" in Procedia Structural Integrity - ECF22 - Loading and environmental effects on structural integrity, 13 (2018):424-429,
https://doi.org/10.1016/j.prostr.2018.12.071 . .

TY  - JOUR
AU  - Đurđević, Andrijana
AU  - Tadić, Srđan
AU  - Ivanović, Ivana
AU  - Dascau, Horia
AU  - Durdević, Đorđe
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2708
AB  - The paper deals with the heat input and maximum temperature that develops in friction stir welding with different welding parameters. The finite element method has been used for numerical analysis of temperature distribution in a friction stir welded Al alloy. Results of temperature distribution in the friction stir welded T-joint and butt joint are presented.
PB  - Institut za ispitivanje materijala, Beograd
T2  - Structural Integrity and Life
T1  - Numerical analysis of heat transfer during friction stir welding
EP  - 48
IS  - 1
SP  - 45
VL  - 17
UR  - https://hdl.handle.net/21.15107/rcub_machinery_2708
ER  - 

@article{
author = "Đurđević, Andrijana and Tadić, Srđan and Ivanović, Ivana and Dascau, Horia and Durdević, Đorđe",
year = "2017",
abstract = "The paper deals with the heat input and maximum temperature that develops in friction stir welding with different welding parameters. The finite element method has been used for numerical analysis of temperature distribution in a friction stir welded Al alloy. Results of temperature distribution in the friction stir welded T-joint and butt joint are presented.",
publisher = "Institut za ispitivanje materijala, Beograd",
journal = "Structural Integrity and Life",
title = "Numerical analysis of heat transfer during friction stir welding",
pages = "48-45",
number = "1",
volume = "17",
url = "https://hdl.handle.net/21.15107/rcub_machinery_2708"
}

Đurđević, A., Tadić, S., Ivanović, I., Dascau, H.,& Durdević, Đ.. (2017). Numerical analysis of heat transfer during friction stir welding. in Structural Integrity and Life
Institut za ispitivanje materijala, Beograd., 17(1), 45-48.
https://hdl.handle.net/21.15107/rcub_machinery_2708

Đurđević A, Tadić S, Ivanović I, Dascau H, Durdević Đ. Numerical analysis of heat transfer during friction stir welding. in Structural Integrity and Life. 2017;17(1):45-48.
https://hdl.handle.net/21.15107/rcub_machinery_2708 .

Đurđević, Andrijana, Tadić, Srđan, Ivanović, Ivana, Dascau, Horia, Durdević, Đorđe, "Numerical analysis of heat transfer during friction stir welding" in Structural Integrity and Life, 17, no. 1 (2017):45-48,
https://hdl.handle.net/21.15107/rcub_machinery_2708 .

TY  - JOUR
AU  - Durdević, Đorđe
AU  - Anđelić, Nina
AU  - Maneski, Taško
AU  - Đurđević, Andrijana
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2549
AB  - The results of the research regarding the stress and strain state in structural elements of the container terminal are presented in this paper. The container terminal is used for the electrical energy supply and control system of conveyor belts in the exploitation of mining basin 'Kolubara'. Stress analysis of the structural elements has been done with loading containers where one container with electrical equipment weighs 28 tons. The container terminal is in the process of production.
PB  - Institut za ispitivanje materijala, Beograd
T2  - Structural Integrity and Life-Integritet I Vek Konstrukcija
T1  - Numerical analysis of stress and strain state of structural elements of container terminal
EP  - 238
IS  - 3
SP  - 235
VL  - 17
UR  - https://hdl.handle.net/21.15107/rcub_machinery_2549
ER  - 

@article{
author = "Durdević, Đorđe and Anđelić, Nina and Maneski, Taško and Đurđević, Andrijana",
year = "2017",
abstract = "The results of the research regarding the stress and strain state in structural elements of the container terminal are presented in this paper. The container terminal is used for the electrical energy supply and control system of conveyor belts in the exploitation of mining basin 'Kolubara'. Stress analysis of the structural elements has been done with loading containers where one container with electrical equipment weighs 28 tons. The container terminal is in the process of production.",
publisher = "Institut za ispitivanje materijala, Beograd",
journal = "Structural Integrity and Life-Integritet I Vek Konstrukcija",
title = "Numerical analysis of stress and strain state of structural elements of container terminal",
pages = "238-235",
number = "3",
volume = "17",
url = "https://hdl.handle.net/21.15107/rcub_machinery_2549"
}

Durdević, Đ., Anđelić, N., Maneski, T.,& Đurđević, A.. (2017). Numerical analysis of stress and strain state of structural elements of container terminal. in Structural Integrity and Life-Integritet I Vek Konstrukcija
Institut za ispitivanje materijala, Beograd., 17(3), 235-238.
https://hdl.handle.net/21.15107/rcub_machinery_2549

Durdević Đ, Anđelić N, Maneski T, Đurđević A. Numerical analysis of stress and strain state of structural elements of container terminal. in Structural Integrity and Life-Integritet I Vek Konstrukcija. 2017;17(3):235-238.
https://hdl.handle.net/21.15107/rcub_machinery_2549 .

Durdević, Đorđe, Anđelić, Nina, Maneski, Taško, Đurđević, Andrijana, "Numerical analysis of stress and strain state of structural elements of container terminal" in Structural Integrity and Life-Integritet I Vek Konstrukcija, 17, no. 3 (2017):235-238,
https://hdl.handle.net/21.15107/rcub_machinery_2549 .