TY  - JOUR
AU  - Lesi, Vuk
AU  - Jakovljević, Živana
AU  - Pajić, Miroslav
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/101
AB  - Internet of Things (IoT) technologies enable development of reconfigurable manufacturing systems--a new generation of modularized industrial equipment suitable for highly customized manufacturing. Sequential control in these systems is largely based on discrete events, whereas their formal execution semantics is specified as control interpreted Petri nets (CIPN). Despite industry-wide use of programming languages based on the CIPN formalism, formal verification of such control applications in the presence of adversarial activity is not supported. Consequently, in this article, we introduce security-aware modeling and verification techniques for CIPN-based sequential control applications. Specifically, we show how CIPN models of networked industrial IoT controllers can be transformed into time Petri net (TPN)-based models and composed with plant and security-aware channel models in order to enable system-level verification of safety properties in the presence of network-based attacks. Additionally, we introduce realistic channel-specific attack models that capture adversarial behavior using nondeterminism. Moreover, we show how verification results can be utilized to introduce security patches and facilitate design of attack detectors that improve system resiliency and enable satisfaction of critical safety properties. Finally, we evaluate our framework on an industrial case study.
PB  - IEEE - Inst Electrical Electronics Engineers Inc, Piscataway
T2  - IEEE Transactions on Automation Science and Engineering
T1  - Security Analysis for Distributed IoT-Based Industrial Automation
EP  - 3108
IS  - 4
SP  - 3093
VL  - 19
DO  - 10.1109/TASE.2021.3106335
ER  - 

@article{
author = "Lesi, Vuk and Jakovljević, Živana and Pajić, Miroslav",
year = "2022",
abstract = "Internet of Things (IoT) technologies enable development of reconfigurable manufacturing systems--a new generation of modularized industrial equipment suitable for highly customized manufacturing. Sequential control in these systems is largely based on discrete events, whereas their formal execution semantics is specified as control interpreted Petri nets (CIPN). Despite industry-wide use of programming languages based on the CIPN formalism, formal verification of such control applications in the presence of adversarial activity is not supported. Consequently, in this article, we introduce security-aware modeling and verification techniques for CIPN-based sequential control applications. Specifically, we show how CIPN models of networked industrial IoT controllers can be transformed into time Petri net (TPN)-based models and composed with plant and security-aware channel models in order to enable system-level verification of safety properties in the presence of network-based attacks. Additionally, we introduce realistic channel-specific attack models that capture adversarial behavior using nondeterminism. Moreover, we show how verification results can be utilized to introduce security patches and facilitate design of attack detectors that improve system resiliency and enable satisfaction of critical safety properties. Finally, we evaluate our framework on an industrial case study.",
publisher = "IEEE - Inst Electrical Electronics Engineers Inc, Piscataway",
journal = "IEEE Transactions on Automation Science and Engineering",
title = "Security Analysis for Distributed IoT-Based Industrial Automation",
pages = "3108-3093",
number = "4",
volume = "19",
doi = "10.1109/TASE.2021.3106335"
}

Lesi, V., Jakovljević, Ž.,& Pajić, M.. (2022). Security Analysis for Distributed IoT-Based Industrial Automation. in IEEE Transactions on Automation Science and Engineering
IEEE - Inst Electrical Electronics Engineers Inc, Piscataway., 19(4), 3093-3108.
https://doi.org/10.1109/TASE.2021.3106335

Lesi V, Jakovljević Ž, Pajić M. Security Analysis for Distributed IoT-Based Industrial Automation. in IEEE Transactions on Automation Science and Engineering. 2022;19(4):3093-3108.
doi:10.1109/TASE.2021.3106335 .

Lesi, Vuk, Jakovljević, Živana, Pajić, Miroslav, "Security Analysis for Distributed IoT-Based Industrial Automation" in IEEE Transactions on Automation Science and Engineering, 19, no. 4 (2022):3093-3108,
https://doi.org/10.1109/TASE.2021.3106335 . .

TY  - JOUR
AU  - Jakovljević, Živana
AU  - Lesi, Vuk
AU  - Pajić, Miroslav
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3622
AB  - Industrial Internet of Things (IIoT) represents a backbone of modern reconfigurable manufacturing systems (RMS), which enable manufacturing of a high product variety through rapid and easy reconfiguration of manufacturing equipment. In IIoT-enabled RMS, modular equipment is built from smart devices, each performing its own tasks, whereas the global functioning is achieved through their networking and intensive communication. Although device communication contributes to the system reconfigurability, it also opens up new security challenges due to potential vulnerability of communication links. In this article, we present security analysis for a major part of RMS in which manufacturing equipment is sequentially controlled and can be modeled as discrete event systems (DES). Control distribution within DES implies communication of certain events between smart modules. Specifically, in this work, we focus on attacks on communication of these events. In particular, we develop a method for modeling such attacks, including event insertion and removal attacks, in distributed sequential control; the method is based on the supervisory control theory framework. We show how the modeled attacks can be detected and provide a method for identification of communication links that require protection to avoid catastrophic damage of the system. Finally, we illustrate and experimentally validate applicability of our methodology on a real-world industrial case study with reconfigurable manufacturing equipment.
PB  - Ieee-Inst Electrical Electronics Engineers Inc, Piscataway
T2  - Ieee Transactions on Industrial Informatics
T1  - Attacks on Distributed Sequential Control in Manufacturing Automation
EP  - 786
IS  - 2
SP  - 775
VL  - 17
DO  - 10.1109/TII.2020.2987629
ER  - 

@article{
author = "Jakovljević, Živana and Lesi, Vuk and Pajić, Miroslav",
year = "2021",
abstract = "Industrial Internet of Things (IIoT) represents a backbone of modern reconfigurable manufacturing systems (RMS), which enable manufacturing of a high product variety through rapid and easy reconfiguration of manufacturing equipment. In IIoT-enabled RMS, modular equipment is built from smart devices, each performing its own tasks, whereas the global functioning is achieved through their networking and intensive communication. Although device communication contributes to the system reconfigurability, it also opens up new security challenges due to potential vulnerability of communication links. In this article, we present security analysis for a major part of RMS in which manufacturing equipment is sequentially controlled and can be modeled as discrete event systems (DES). Control distribution within DES implies communication of certain events between smart modules. Specifically, in this work, we focus on attacks on communication of these events. In particular, we develop a method for modeling such attacks, including event insertion and removal attacks, in distributed sequential control; the method is based on the supervisory control theory framework. We show how the modeled attacks can be detected and provide a method for identification of communication links that require protection to avoid catastrophic damage of the system. Finally, we illustrate and experimentally validate applicability of our methodology on a real-world industrial case study with reconfigurable manufacturing equipment.",
publisher = "Ieee-Inst Electrical Electronics Engineers Inc, Piscataway",
journal = "Ieee Transactions on Industrial Informatics",
title = "Attacks on Distributed Sequential Control in Manufacturing Automation",
pages = "786-775",
number = "2",
volume = "17",
doi = "10.1109/TII.2020.2987629"
}

Jakovljević, Ž., Lesi, V.,& Pajić, M.. (2021). Attacks on Distributed Sequential Control in Manufacturing Automation. in Ieee Transactions on Industrial Informatics
Ieee-Inst Electrical Electronics Engineers Inc, Piscataway., 17(2), 775-786.
https://doi.org/10.1109/TII.2020.2987629

Jakovljević Ž, Lesi V, Pajić M. Attacks on Distributed Sequential Control in Manufacturing Automation. in Ieee Transactions on Industrial Informatics. 2021;17(2):775-786.
doi:10.1109/TII.2020.2987629 .

Jakovljević, Živana, Lesi, Vuk, Pajić, Miroslav, "Attacks on Distributed Sequential Control in Manufacturing Automation" in Ieee Transactions on Industrial Informatics, 17, no. 2 (2021):775-786,
https://doi.org/10.1109/TII.2020.2987629 . .

TY  - JOUR
AU  - Sokac, Mario
AU  - Budak, Igor
AU  - Katić, Marko
AU  - Jakovljević, Živana
AU  - Santosi, Željko
AU  - Vukelić, Đorđe
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3368
AB  - The paper demonstrates a novel methodology for surface extraction of multi-material components (MMCs) on industrial X-ray computed tomography (CT) datasets. The methodology is based on a combination of fuzzy C-means clustering (FCM) and region growing (RG) methods. FCM, used as a preprocessing step, allows proper classification and improvement of different objects boundaries present on industrial X-ray CT datasets. Afterwards, application of RG method enables accurate segmentation of classified and improved X-ray CT datasets. The performance of presented approach has been tested on two CT datasets acquired on an industrial X-ray CT system NIKON XT H 225. It was also compared against two commercial industrial software VGStudio Max v3.1 and GOM Inspect v2018. Obtained results from application of the proposed approach show significant improvement in surface extraction of MMCs in CT datasets, especially in cases of low-density materials such as polymers. Verification has been conducted by obtaining reference measurements using contact coordinate measuring machine (CMM) Contura G2 by CARL ZEISS.
PB  - Elsevier Sci Ltd, Oxford
T2  - Measurement
T1  - Improved surface extraction of multi-material components for single-source industrial X-ray computed tomography
VL  - 153
DO  - 10.1016/j.measurement.2019.107438
ER  - 

@article{
author = "Sokac, Mario and Budak, Igor and Katić, Marko and Jakovljević, Živana and Santosi, Željko and Vukelić, Đorđe",
year = "2020",
abstract = "The paper demonstrates a novel methodology for surface extraction of multi-material components (MMCs) on industrial X-ray computed tomography (CT) datasets. The methodology is based on a combination of fuzzy C-means clustering (FCM) and region growing (RG) methods. FCM, used as a preprocessing step, allows proper classification and improvement of different objects boundaries present on industrial X-ray CT datasets. Afterwards, application of RG method enables accurate segmentation of classified and improved X-ray CT datasets. The performance of presented approach has been tested on two CT datasets acquired on an industrial X-ray CT system NIKON XT H 225. It was also compared against two commercial industrial software VGStudio Max v3.1 and GOM Inspect v2018. Obtained results from application of the proposed approach show significant improvement in surface extraction of MMCs in CT datasets, especially in cases of low-density materials such as polymers. Verification has been conducted by obtaining reference measurements using contact coordinate measuring machine (CMM) Contura G2 by CARL ZEISS.",
publisher = "Elsevier Sci Ltd, Oxford",
journal = "Measurement",
title = "Improved surface extraction of multi-material components for single-source industrial X-ray computed tomography",
volume = "153",
doi = "10.1016/j.measurement.2019.107438"
}

Sokac, M., Budak, I., Katić, M., Jakovljević, Ž., Santosi, Ž.,& Vukelić, Đ.. (2020). Improved surface extraction of multi-material components for single-source industrial X-ray computed tomography. in Measurement
Elsevier Sci Ltd, Oxford., 153.
https://doi.org/10.1016/j.measurement.2019.107438

Sokac M, Budak I, Katić M, Jakovljević Ž, Santosi Ž, Vukelić Đ. Improved surface extraction of multi-material components for single-source industrial X-ray computed tomography. in Measurement. 2020;153.
doi:10.1016/j.measurement.2019.107438 .

Sokac, Mario, Budak, Igor, Katić, Marko, Jakovljević, Živana, Santosi, Željko, Vukelić, Đorđe, "Improved surface extraction of multi-material components for single-source industrial X-ray computed tomography" in Measurement, 153 (2020),
https://doi.org/10.1016/j.measurement.2019.107438 . .

TY  - JOUR
AU  - Sokac, Mario
AU  - Vukelić, Đorđe
AU  - Jakovljević, Živana
AU  - Santosi, Željko
AU  - Hadzistević, Miodrag
AU  - Budak, Igor
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3240
AB  - This research proposes a hybrid method for improving the segmentation accuracy of reconstructed 3D models from computed tomography/magnetic resonance imaging (CT/MRI) data. A semi-automatic hybrid method based on combination of Fuzzy C-Means clustering (FCM) and region growing (RG) is proposed. In this approach, FCM is used in the first stage as a preprocessing step in order to classify and improve images by assigning pixels to the clusters for which they have the maximum membership, and manual selection of the membership intensity map with the best contrast separation. Afterwards, automatic seed selection is performed for RG, for which a new parameter standard deviation (STD) of pixel intensities, is included. It is based on the selection of an initial seed inside a region with maximum value of STD. To evaluate the performance of the proposed method, it was compared to several other segmentation methods. Experimental results show that the proposed method overall provides better results compared to other methods in terms of accuracy. The average sensitivity and accuracy rates for cone-beam computed tomography CBCT 1 and CBCT 2 datasets are 99 %, 98.4 %, 47.2 % and 89.9 %, respectively. For MRI 1 and MRI 2 datasets, the average sensitivity and accuracy values are 99.1 %, 100 %, 75.6 % and 99.6 %, respectively. The average values for the Dice coefficient and Jaccard index for the CBCT 1 and CBCT 2 datasets are 95.88, 0.88, 0.6, and 0.51, respectively, while for MRI 1 and MRI 2 datasets, average values are 0.96, 0.93, 0.81 and 0.7, respectively, which confirms the high accuracy of the proposed method.
PB  - Assoc Mechanical Engineers Technicians Slovenia, Ljubljana
T2  - Strojniski Vestnik-Journal of Mechanical Engineering
T1  - Fuzzy Hybrid Method for the Reconstruction of 3D Models Based on CT/MRI Data
EP  - 494
IS  - 9
SP  - 482
VL  - 65
DO  - 10.5545/sv-jme.2019.6136
ER  - 

@article{
author = "Sokac, Mario and Vukelić, Đorđe and Jakovljević, Živana and Santosi, Željko and Hadzistević, Miodrag and Budak, Igor",
year = "2019",
abstract = "This research proposes a hybrid method for improving the segmentation accuracy of reconstructed 3D models from computed tomography/magnetic resonance imaging (CT/MRI) data. A semi-automatic hybrid method based on combination of Fuzzy C-Means clustering (FCM) and region growing (RG) is proposed. In this approach, FCM is used in the first stage as a preprocessing step in order to classify and improve images by assigning pixels to the clusters for which they have the maximum membership, and manual selection of the membership intensity map with the best contrast separation. Afterwards, automatic seed selection is performed for RG, for which a new parameter standard deviation (STD) of pixel intensities, is included. It is based on the selection of an initial seed inside a region with maximum value of STD. To evaluate the performance of the proposed method, it was compared to several other segmentation methods. Experimental results show that the proposed method overall provides better results compared to other methods in terms of accuracy. The average sensitivity and accuracy rates for cone-beam computed tomography CBCT 1 and CBCT 2 datasets are 99 %, 98.4 %, 47.2 % and 89.9 %, respectively. For MRI 1 and MRI 2 datasets, the average sensitivity and accuracy values are 99.1 %, 100 %, 75.6 % and 99.6 %, respectively. The average values for the Dice coefficient and Jaccard index for the CBCT 1 and CBCT 2 datasets are 95.88, 0.88, 0.6, and 0.51, respectively, while for MRI 1 and MRI 2 datasets, average values are 0.96, 0.93, 0.81 and 0.7, respectively, which confirms the high accuracy of the proposed method.",
publisher = "Assoc Mechanical Engineers Technicians Slovenia, Ljubljana",
journal = "Strojniski Vestnik-Journal of Mechanical Engineering",
title = "Fuzzy Hybrid Method for the Reconstruction of 3D Models Based on CT/MRI Data",
pages = "494-482",
number = "9",
volume = "65",
doi = "10.5545/sv-jme.2019.6136"
}

Sokac, M., Vukelić, Đ., Jakovljević, Ž., Santosi, Ž., Hadzistević, M.,& Budak, I.. (2019). Fuzzy Hybrid Method for the Reconstruction of 3D Models Based on CT/MRI Data. in Strojniski Vestnik-Journal of Mechanical Engineering
Assoc Mechanical Engineers Technicians Slovenia, Ljubljana., 65(9), 482-494.
https://doi.org/10.5545/sv-jme.2019.6136

Sokac M, Vukelić Đ, Jakovljević Ž, Santosi Ž, Hadzistević M, Budak I. Fuzzy Hybrid Method for the Reconstruction of 3D Models Based on CT/MRI Data. in Strojniski Vestnik-Journal of Mechanical Engineering. 2019;65(9):482-494.
doi:10.5545/sv-jme.2019.6136 .

Sokac, Mario, Vukelić, Đorđe, Jakovljević, Živana, Santosi, Željko, Hadzistević, Miodrag, Budak, Igor, "Fuzzy Hybrid Method for the Reconstruction of 3D Models Based on CT/MRI Data" in Strojniski Vestnik-Journal of Mechanical Engineering, 65, no. 9 (2019):482-494,
https://doi.org/10.5545/sv-jme.2019.6136 . .

TY  - JOUR
AU  - Marković, Veljko
AU  - Jakovljević, Živana
AU  - Miljković, Zoran
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3128
AB  - Contemporary three-dimensional (3D) scanning devices are characterized by high speed and resolution. They provide dense point clouds that contain abundant data about scanned objects and require computationally intensive and time consuming processing. On the other hand, point clouds usually contain a large amount of redundant data that carry little or no additional information about scanned object geometry. To facilitate further analysis and extraction of relevant information from point cloud, as well as faster transfer of data between different computational devices, it is rational to carry out its simplification at an early stage of the processing. However, the reduction of data during simplification has to ensure high level of information contents preservation; simplification has to be feature sensitive. In this paper we propose a method for feature sensitive simplification of 3D point clouds that is based on epsilon insensitive support vector regression (epsilon-SVR). The proposed method is intended for structured point clouds. It exploits the flatness property of epsilon-SVR for effective recognition of points in high curvature areas of scanned lines. The points from these areas are kept in simplified point cloud along with a reduced number of points from flat areas. In addition, the proposed method effectively detects the points in the vicinity of sharp edges without additional processing. Proposed simplification method is experimentally verified using three real world case studies. To estimate the quality of the simplification, we employ non-uniform rational b-splines fitting to initial and reduced scan lines.
PB  - Univ Osijek, Tech Fac, Slavonski Brod
T2  - Tehnički vjesnik
T1  - Feature Sensitive Three-Dimensional Point Cloud Simplification using Support Vector Regression
EP  - 994
IS  - 4
SP  - 985
VL  - 26
DO  - 10.17559/TV-20180328175336
ER  - 

@article{
author = "Marković, Veljko and Jakovljević, Živana and Miljković, Zoran",
year = "2019",
abstract = "Contemporary three-dimensional (3D) scanning devices are characterized by high speed and resolution. They provide dense point clouds that contain abundant data about scanned objects and require computationally intensive and time consuming processing. On the other hand, point clouds usually contain a large amount of redundant data that carry little or no additional information about scanned object geometry. To facilitate further analysis and extraction of relevant information from point cloud, as well as faster transfer of data between different computational devices, it is rational to carry out its simplification at an early stage of the processing. However, the reduction of data during simplification has to ensure high level of information contents preservation; simplification has to be feature sensitive. In this paper we propose a method for feature sensitive simplification of 3D point clouds that is based on epsilon insensitive support vector regression (epsilon-SVR). The proposed method is intended for structured point clouds. It exploits the flatness property of epsilon-SVR for effective recognition of points in high curvature areas of scanned lines. The points from these areas are kept in simplified point cloud along with a reduced number of points from flat areas. In addition, the proposed method effectively detects the points in the vicinity of sharp edges without additional processing. Proposed simplification method is experimentally verified using three real world case studies. To estimate the quality of the simplification, we employ non-uniform rational b-splines fitting to initial and reduced scan lines.",
publisher = "Univ Osijek, Tech Fac, Slavonski Brod",
journal = "Tehnički vjesnik",
title = "Feature Sensitive Three-Dimensional Point Cloud Simplification using Support Vector Regression",
pages = "994-985",
number = "4",
volume = "26",
doi = "10.17559/TV-20180328175336"
}

Marković, V., Jakovljević, Ž.,& Miljković, Z.. (2019). Feature Sensitive Three-Dimensional Point Cloud Simplification using Support Vector Regression. in Tehnički vjesnik
Univ Osijek, Tech Fac, Slavonski Brod., 26(4), 985-994.
https://doi.org/10.17559/TV-20180328175336

Marković V, Jakovljević Ž, Miljković Z. Feature Sensitive Three-Dimensional Point Cloud Simplification using Support Vector Regression. in Tehnički vjesnik. 2019;26(4):985-994.
doi:10.17559/TV-20180328175336 .

Marković, Veljko, Jakovljević, Živana, Miljković, Zoran, "Feature Sensitive Three-Dimensional Point Cloud Simplification using Support Vector Regression" in Tehnički vjesnik, 26, no. 4 (2019):985-994,
https://doi.org/10.17559/TV-20180328175336 . .

TY  - JOUR
AU  - Mitrović, Stefan M.
AU  - Dimić, Zoran
AU  - Jakovljević, Živana
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3044
AB  - Paradigma industrije 4.0 diktira visoko efikasnu i fleksibilnu proizvodnju uvođenjem konfigurabilnih proizvodnih sistema i resursa koji odlikuju modularnost, interoperabilnost, skalabilnost i mogućnosti komunikacije. Trenutno se širom sveta istražuju različiti pristupi u nastojanju da se dostigne sledeći nivo proizvodnih tehnologija bez ugrožavanja same proizvodnje. Razmatrani pristupi podrazumevaju implementaciju Ciber Phisical Sistem-a, Interneta stvari i generacije proizvodnih sistema Digital Tvins. Složeni industrijski upravljački sistemi, koji su tradicionalno ožičeni i smatraju se sigurnim, sada postaju distribuirani, povezani na internet, obično se zasnivaju na bežičnoj komunikaciji i širom su otvoreni za sve vrste zlonamjernih podviga s potencijalno fatalnim posledicama. U ovom radu predstavljen je pregled bezbednosnih pitanja koja su ključna za razvoj sigurnije bežične distribucije kontrole proizvodnih resursa, pogodnih za izazove u narednim vremenima.
AB  - Industry 4.0 paradigm dictates highly efficient and flexible production through introduction of reconfigurable manufacturing systems and resources characterized by modularity, interoperability, scalability and communication capabilities. Various approaches are currently researched worldwide in an effort to achieve the next level of production technologies without compromising the production itself. Considered approaches imply implementation of Cyber Physical Systems, Internet of Things and generation of manufacturing systems Digital Twins. Complex industrial control systems, which were traditionally wired and considered safe, are now becoming distributed, internet-connected, usually based on wireless communication and wide open for all kinds of malicious exploits with potentially fatal consequences. This paper presents a review of security related issues that are crucial in developing safer wireless distributed control of manufacturing resources, ADEPT for challenges in coming times.
PB  - Univerzitet u Novom Sadu - Fakultet tehničkih nauka - Departman za proizvodno mašinstvo, Novi Sad
T2  - Journal of Production Engineering
T1  - Distribuirana kontrola proizvodnjih sredstava - pitanja vezana za sigurnost
T1  - Distributed control of manufacturing resources: Security related issues
EP  - 39
IS  - 2
SP  - 35
VL  - 22
DO  - 10.24867/JPE-2019-02-035
ER  - 

@article{
author = "Mitrović, Stefan M. and Dimić, Zoran and Jakovljević, Živana",
year = "2019",
abstract = "Paradigma industrije 4.0 diktira visoko efikasnu i fleksibilnu proizvodnju uvođenjem konfigurabilnih proizvodnih sistema i resursa koji odlikuju modularnost, interoperabilnost, skalabilnost i mogućnosti komunikacije. Trenutno se širom sveta istražuju različiti pristupi u nastojanju da se dostigne sledeći nivo proizvodnih tehnologija bez ugrožavanja same proizvodnje. Razmatrani pristupi podrazumevaju implementaciju Ciber Phisical Sistem-a, Interneta stvari i generacije proizvodnih sistema Digital Tvins. Složeni industrijski upravljački sistemi, koji su tradicionalno ožičeni i smatraju se sigurnim, sada postaju distribuirani, povezani na internet, obično se zasnivaju na bežičnoj komunikaciji i širom su otvoreni za sve vrste zlonamjernih podviga s potencijalno fatalnim posledicama. U ovom radu predstavljen je pregled bezbednosnih pitanja koja su ključna za razvoj sigurnije bežične distribucije kontrole proizvodnih resursa, pogodnih za izazove u narednim vremenima., Industry 4.0 paradigm dictates highly efficient and flexible production through introduction of reconfigurable manufacturing systems and resources characterized by modularity, interoperability, scalability and communication capabilities. Various approaches are currently researched worldwide in an effort to achieve the next level of production technologies without compromising the production itself. Considered approaches imply implementation of Cyber Physical Systems, Internet of Things and generation of manufacturing systems Digital Twins. Complex industrial control systems, which were traditionally wired and considered safe, are now becoming distributed, internet-connected, usually based on wireless communication and wide open for all kinds of malicious exploits with potentially fatal consequences. This paper presents a review of security related issues that are crucial in developing safer wireless distributed control of manufacturing resources, ADEPT for challenges in coming times.",
publisher = "Univerzitet u Novom Sadu - Fakultet tehničkih nauka - Departman za proizvodno mašinstvo, Novi Sad",
journal = "Journal of Production Engineering",
title = "Distribuirana kontrola proizvodnjih sredstava - pitanja vezana za sigurnost, Distributed control of manufacturing resources: Security related issues",
pages = "39-35",
number = "2",
volume = "22",
doi = "10.24867/JPE-2019-02-035"
}

Mitrović, S. M., Dimić, Z.,& Jakovljević, Ž.. (2019). Distribuirana kontrola proizvodnjih sredstava - pitanja vezana za sigurnost. in Journal of Production Engineering
Univerzitet u Novom Sadu - Fakultet tehničkih nauka - Departman za proizvodno mašinstvo, Novi Sad., 22(2), 35-39.
https://doi.org/10.24867/JPE-2019-02-035

Mitrović SM, Dimić Z, Jakovljević Ž. Distribuirana kontrola proizvodnjih sredstava - pitanja vezana za sigurnost. in Journal of Production Engineering. 2019;22(2):35-39.
doi:10.24867/JPE-2019-02-035 .

Mitrović, Stefan M., Dimić, Zoran, Jakovljević, Živana, "Distribuirana kontrola proizvodnjih sredstava - pitanja vezana za sigurnost" in Journal of Production Engineering, 22, no. 2 (2019):35-39,
https://doi.org/10.24867/JPE-2019-02-035 . .

TY  - CONF
AU  - Mitrović, Stefan
AU  - Dimić, Zoran
AU  - Jakovljević, Živana
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5174
AB  - Industry 4.0 paradigm dictates highly efficient and flexible production through introduction of reconfigurable manufacturing systems and resources characterized by modularity, interoperability, scalability and communication capabilities. Various approaches are currently researched worldwide in an effort to achieve the next level of production technologies without compromising the production itself. Considered approaches imply implementation of Cyber Physical Systems, Internet of Things and generation of manufacturing systems Digital Twins. Complex industrial control systems, which were traditionally wired and considered safe, are now becoming  distributed, internet-connected, usually based on wireless communication and wide open for all kinds of malicious exploits with potentially fatal consequences. This paper presents a review of security related issues that are crucial in developing safer wireless distributed control of manufacturing resources, adept for challenges in coming times.
C3  - Proceedings of 13th International Scientific Conference MMA 2018 – Flexible Technologies
T1  - Distributed Control of Manufacturing Resources – Security Related Issues
EP  - 198
SP  - 195
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5174
ER  - 

@conference{
author = "Mitrović, Stefan and Dimić, Zoran and Jakovljević, Živana",
year = "2018",
abstract = "Industry 4.0 paradigm dictates highly efficient and flexible production through introduction of reconfigurable manufacturing systems and resources characterized by modularity, interoperability, scalability and communication capabilities. Various approaches are currently researched worldwide in an effort to achieve the next level of production technologies without compromising the production itself. Considered approaches imply implementation of Cyber Physical Systems, Internet of Things and generation of manufacturing systems Digital Twins. Complex industrial control systems, which were traditionally wired and considered safe, are now becoming  distributed, internet-connected, usually based on wireless communication and wide open for all kinds of malicious exploits with potentially fatal consequences. This paper presents a review of security related issues that are crucial in developing safer wireless distributed control of manufacturing resources, adept for challenges in coming times.",
journal = "Proceedings of 13th International Scientific Conference MMA 2018 – Flexible Technologies",
title = "Distributed Control of Manufacturing Resources – Security Related Issues",
pages = "198-195",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5174"
}

Mitrović, S., Dimić, Z.,& Jakovljević, Ž.. (2018). Distributed Control of Manufacturing Resources – Security Related Issues. in Proceedings of 13th International Scientific Conference MMA 2018 – Flexible Technologies, 195-198.
https://hdl.handle.net/21.15107/rcub_machinery_5174

Mitrović S, Dimić Z, Jakovljević Ž. Distributed Control of Manufacturing Resources – Security Related Issues. in Proceedings of 13th International Scientific Conference MMA 2018 – Flexible Technologies. 2018;:195-198.
https://hdl.handle.net/21.15107/rcub_machinery_5174 .

Mitrović, Stefan, Dimić, Zoran, Jakovljević, Živana, "Distributed Control of Manufacturing Resources – Security Related Issues" in Proceedings of 13th International Scientific Conference MMA 2018 – Flexible Technologies (2018):195-198,
https://hdl.handle.net/21.15107/rcub_machinery_5174 .

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 . .

TY  - CONF
AU  - Majstorović, Vidosav D.
AU  - Stojadinović, Slavenko
AU  - Jakovljević, Živana
AU  - Živković, Srđan D.
AU  - Djurdjanović, Dragan
AU  - Kostić, Julija
AU  - Gligorijević, Nemanja
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2914
AB  - Internet of Things (IoT) is changing the world, and therefore the application of ICT (Information and Communication Technology) in manufacturing. As a paradigm based on the Internet, IoT utilizes the benefits of interrelated technologies/smart devices such as RFID (Radio Frequency Identification) and WSAN (Wireless Sensor and Actuator Networks) for the retrieval and exchange of information thus opening up new possibilities for integration of manufacturing system and its cyber representation through Cyber-Physical Manufacturing (CPM) model. On the other hand, CPM and digital manufacturing represent the key elements for implementation of Industry 4.0 and backbone for "smart factory" generation. Interconnected smart devices generate huge databases (big data), so that Cloud computing becomes indispensable tool to support the CPM. In addition, CPM has an extremely expressed requirement for better control, monitoring and data management. Limitations still exist in storages, networks and computers, as well as in the tools for complex data analysis, detection of its structure and retrieval of useful information. Products, resources, and processes within smart factory are realized and controlled through CPM model. In this context, our recent research efforts in the field of quality control and manufacturing metrology are directed to the development of framework for Cyber-Physical Manufacturing Metrology Model (CPM3). CPM3 framework will be based on: 1) integration of digital product metrology information obtained from big data using BDA (big data analytics) through metrology features recognition, and 2) generation of global/local inspection plan for CMM (Coordinate Measuring Machine) from extracted information. This paper will present recent results of our research on CPM3 - big data analytics issue.
PB  - Elsevier Science Bv, Amsterdam
C3  - 51st Cirp Conference on Manufacturing Systems
T1  - Cyber-Physical Manufacturing Metrology Model (CPM3) - Big Data Analytics Issue
EP  - 508
SP  - 503
VL  - 72
DO  - 10.1016/j.procir.2018.03.091
ER  - 

@conference{
author = "Majstorović, Vidosav D. and Stojadinović, Slavenko and Jakovljević, Živana and Živković, Srđan D. and Djurdjanović, Dragan and Kostić, Julija and Gligorijević, Nemanja",
year = "2018",
abstract = "Internet of Things (IoT) is changing the world, and therefore the application of ICT (Information and Communication Technology) in manufacturing. As a paradigm based on the Internet, IoT utilizes the benefits of interrelated technologies/smart devices such as RFID (Radio Frequency Identification) and WSAN (Wireless Sensor and Actuator Networks) for the retrieval and exchange of information thus opening up new possibilities for integration of manufacturing system and its cyber representation through Cyber-Physical Manufacturing (CPM) model. On the other hand, CPM and digital manufacturing represent the key elements for implementation of Industry 4.0 and backbone for "smart factory" generation. Interconnected smart devices generate huge databases (big data), so that Cloud computing becomes indispensable tool to support the CPM. In addition, CPM has an extremely expressed requirement for better control, monitoring and data management. Limitations still exist in storages, networks and computers, as well as in the tools for complex data analysis, detection of its structure and retrieval of useful information. Products, resources, and processes within smart factory are realized and controlled through CPM model. In this context, our recent research efforts in the field of quality control and manufacturing metrology are directed to the development of framework for Cyber-Physical Manufacturing Metrology Model (CPM3). CPM3 framework will be based on: 1) integration of digital product metrology information obtained from big data using BDA (big data analytics) through metrology features recognition, and 2) generation of global/local inspection plan for CMM (Coordinate Measuring Machine) from extracted information. This paper will present recent results of our research on CPM3 - big data analytics issue.",
publisher = "Elsevier Science Bv, Amsterdam",
journal = "51st Cirp Conference on Manufacturing Systems",
title = "Cyber-Physical Manufacturing Metrology Model (CPM3) - Big Data Analytics Issue",
pages = "508-503",
volume = "72",
doi = "10.1016/j.procir.2018.03.091"
}

Majstorović, V. D., Stojadinović, S., Jakovljević, Ž., Živković, S. D., Djurdjanović, D., Kostić, J.,& Gligorijević, N.. (2018). Cyber-Physical Manufacturing Metrology Model (CPM3) - Big Data Analytics Issue. in 51st Cirp Conference on Manufacturing Systems
Elsevier Science Bv, Amsterdam., 72, 503-508.
https://doi.org/10.1016/j.procir.2018.03.091

Majstorović VD, Stojadinović S, Jakovljević Ž, Živković SD, Djurdjanović D, Kostić J, Gligorijević N. Cyber-Physical Manufacturing Metrology Model (CPM3) - Big Data Analytics Issue. in 51st Cirp Conference on Manufacturing Systems. 2018;72:503-508.
doi:10.1016/j.procir.2018.03.091 .

Majstorović, Vidosav D., Stojadinović, Slavenko, Jakovljević, Živana, Živković, Srđan D., Djurdjanović, Dragan, Kostić, Julija, Gligorijević, Nemanja, "Cyber-Physical Manufacturing Metrology Model (CPM3) - Big Data Analytics Issue" in 51st Cirp Conference on Manufacturing Systems, 72 (2018):503-508,
https://doi.org/10.1016/j.procir.2018.03.091 . .

TY  - CONF
AU  - Šokac, Mario
AU  - Budak, Igor
AU  - Jakovljević, Živana
AU  - Santoši, Željko
AU  - Vukelić, Đorđe
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5215
AB  - Uopšteno govoreći, segmentacija predstavlja postupak klasifikacije objekata od interesa i njihove ekstrakcije od pozadine, a kao postupak predstavlja neizostavan korak kod obrade slike. U okviru ovog rada biće predstavljena podela i pregled najčešće primenjivanih metoda za segmentaciju slike. Na osnovu literaturnih izvora izvršena je klasifikacija metoda u odnosu na njihov mehanizam sa kratkim opisom osnovih podela i analizom najčešće primenjivanih metoda.
C3  - ETIKUM 2018, Zbornik radova
T1  - Pregled stanja i analiza najčešće primenjivanih metoda za segmentaciju slike
EP  - 84
SP  - 81
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5215
ER  - 

@conference{
author = "Šokac, Mario and Budak, Igor and Jakovljević, Živana and Santoši, Željko and Vukelić, Đorđe",
year = "2018",
abstract = "Uopšteno govoreći, segmentacija predstavlja postupak klasifikacije objekata od interesa i njihove ekstrakcije od pozadine, a kao postupak predstavlja neizostavan korak kod obrade slike. U okviru ovog rada biće predstavljena podela i pregled najčešće primenjivanih metoda za segmentaciju slike. Na osnovu literaturnih izvora izvršena je klasifikacija metoda u odnosu na njihov mehanizam sa kratkim opisom osnovih podela i analizom najčešće primenjivanih metoda.",
journal = "ETIKUM 2018, Zbornik radova",
title = "Pregled stanja i analiza najčešće primenjivanih metoda za segmentaciju slike",
pages = "84-81",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5215"
}

Šokac, M., Budak, I., Jakovljević, Ž., Santoši, Ž.,& Vukelić, Đ.. (2018). Pregled stanja i analiza najčešće primenjivanih metoda za segmentaciju slike. in ETIKUM 2018, Zbornik radova, 81-84.
https://hdl.handle.net/21.15107/rcub_machinery_5215

Šokac M, Budak I, Jakovljević Ž, Santoši Ž, Vukelić Đ. Pregled stanja i analiza najčešće primenjivanih metoda za segmentaciju slike. in ETIKUM 2018, Zbornik radova. 2018;:81-84.
https://hdl.handle.net/21.15107/rcub_machinery_5215 .

Šokac, Mario, Budak, Igor, Jakovljević, Živana, Santoši, Željko, Vukelić, Đorđe, "Pregled stanja i analiza najčešće primenjivanih metoda za segmentaciju slike" in ETIKUM 2018, Zbornik radova (2018):81-84,
https://hdl.handle.net/21.15107/rcub_machinery_5215 .

TY  - CONF
AU  - Nedeljković, Dušan
AU  - Milovanović, Milan
AU  - Jakovljević, Živana
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5227
AB  - Elektropneumatski sistemi za pozicioniranje predstavljaju ekonomično rešenje za izvršavanje zadataka pozicioniranja. Po pravilu, ovi sistemi imaju nižu cenu u odnosu na elektromehaničke sisteme uz nešto manju tačnost i predstavljaju povoljan izbor pogotovo u situacijama kada je potrebna velika brzina pozicioniranja. U okviru ovog rada opisuje se prototip ekonomičnog elektropneumatskog sistema za pozicioniranje koji je razvijen u Laboratoriji za automatizaciju proizvodnje. Pored samog sistema za pozicioniranje, u radu je opisan i sistem za interakciju korisnika sa pomenutim sistemom posredstvom programabilnog terminala sa ekranom osetljivim na dodir. Upravljanje elektropneumatskim sistemom zasnovano je na primeni programabilnog logičkog kontrolera.
C3  - 41. JUPITER konferencija, Zbornik radova
T1  - Prototip elektropneumatskog sistema za pozicioniranje
EP  - 4.24
SP  - 4.19
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5227
ER  - 

@conference{
author = "Nedeljković, Dušan and Milovanović, Milan and Jakovljević, Živana",
year = "2018",
abstract = "Elektropneumatski sistemi za pozicioniranje predstavljaju ekonomično rešenje za izvršavanje zadataka pozicioniranja. Po pravilu, ovi sistemi imaju nižu cenu u odnosu na elektromehaničke sisteme uz nešto manju tačnost i predstavljaju povoljan izbor pogotovo u situacijama kada je potrebna velika brzina pozicioniranja. U okviru ovog rada opisuje se prototip ekonomičnog elektropneumatskog sistema za pozicioniranje koji je razvijen u Laboratoriji za automatizaciju proizvodnje. Pored samog sistema za pozicioniranje, u radu je opisan i sistem za interakciju korisnika sa pomenutim sistemom posredstvom programabilnog terminala sa ekranom osetljivim na dodir. Upravljanje elektropneumatskim sistemom zasnovano je na primeni programabilnog logičkog kontrolera.",
journal = "41. JUPITER konferencija, Zbornik radova",
title = "Prototip elektropneumatskog sistema za pozicioniranje",
pages = "4.24-4.19",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5227"
}

Nedeljković, D., Milovanović, M.,& Jakovljević, Ž.. (2018). Prototip elektropneumatskog sistema za pozicioniranje. in 41. JUPITER konferencija, Zbornik radova, 4.19-4.24.
https://hdl.handle.net/21.15107/rcub_machinery_5227

Nedeljković D, Milovanović M, Jakovljević Ž. Prototip elektropneumatskog sistema za pozicioniranje. in 41. JUPITER konferencija, Zbornik radova. 2018;:4.19-4.24.
https://hdl.handle.net/21.15107/rcub_machinery_5227 .

Nedeljković, Dušan, Milovanović, Milan, Jakovljević, Živana, "Prototip elektropneumatskog sistema za pozicioniranje" in 41. JUPITER konferencija, Zbornik radova (2018):4.19-4.24,
https://hdl.handle.net/21.15107/rcub_machinery_5227 .

TY  - CONF
AU  - Mitrović, Stefan
AU  - Jakovljević, Živana
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5223
AB  - Potrebe današnjeg tržišta nameću primenu i razvoj novih tehnologija koje omogućavaju efikasno generisanje malih proizvodnih serija uz ekstremno brzu reakciju prilikom pojave zahteva za novim proizvodima. Proizvodnja mora biti fleksibilna, sa proizvodnim sredstvima koja poseduju rekonfigurabilnu hardversku i softversku strukturu. Decentralizacijom upravljanja i distribucijom upravljačkih zadataka na više inteligentnih uređaja pojednostavljuje se konfigurisanje i rekonfigurisanje automatskih proizvodnih sistema, čime se mogu ostvariti značajne uštede u energiji, materijalu i vremenu. U okviru ovog rada opisan je distribuirani sistem upravljanja pneumatskim robotom za bojenje, zasnovan na standardu IEC 61499, uz upotrebu IEC 802.15.4 bežičnog komunikacionog protokola.
C3  - 41. JUPITER konferencija, Zbornik radova
T1  - Distribuirano upravljanje pneumatskim robotom bazirano na IEC 61499 i 802.15.4 standardima
EP  - 4.18
SP  - 4.12
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5223
ER  - 

@conference{
author = "Mitrović, Stefan and Jakovljević, Živana",
year = "2018",
abstract = "Potrebe današnjeg tržišta nameću primenu i razvoj novih tehnologija koje omogućavaju efikasno generisanje malih proizvodnih serija uz ekstremno brzu reakciju prilikom pojave zahteva za novim proizvodima. Proizvodnja mora biti fleksibilna, sa proizvodnim sredstvima koja poseduju rekonfigurabilnu hardversku i softversku strukturu. Decentralizacijom upravljanja i distribucijom upravljačkih zadataka na više inteligentnih uređaja pojednostavljuje se konfigurisanje i rekonfigurisanje automatskih proizvodnih sistema, čime se mogu ostvariti značajne uštede u energiji, materijalu i vremenu. U okviru ovog rada opisan je distribuirani sistem upravljanja pneumatskim robotom za bojenje, zasnovan na standardu IEC 61499, uz upotrebu IEC 802.15.4 bežičnog komunikacionog protokola.",
journal = "41. JUPITER konferencija, Zbornik radova",
title = "Distribuirano upravljanje pneumatskim robotom bazirano na IEC 61499 i 802.15.4 standardima",
pages = "4.18-4.12",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5223"
}

Mitrović, S.,& Jakovljević, Ž.. (2018). Distribuirano upravljanje pneumatskim robotom bazirano na IEC 61499 i 802.15.4 standardima. in 41. JUPITER konferencija, Zbornik radova, 4.12-4.18.
https://hdl.handle.net/21.15107/rcub_machinery_5223

Mitrović S, Jakovljević Ž. Distribuirano upravljanje pneumatskim robotom bazirano na IEC 61499 i 802.15.4 standardima. in 41. JUPITER konferencija, Zbornik radova. 2018;:4.12-4.18.
https://hdl.handle.net/21.15107/rcub_machinery_5223 .

Mitrović, Stefan, Jakovljević, Živana, "Distribuirano upravljanje pneumatskim robotom bazirano na IEC 61499 i 802.15.4 standardima" in 41. JUPITER konferencija, Zbornik radova (2018):4.12-4.18,
https://hdl.handle.net/21.15107/rcub_machinery_5223 .

TY  - CONF
AU  - Marković, Veljko
AU  - Jakovljević, Živana
AU  - Budak, Igor
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5221
AB  - U radu se predlaže metod za prepoznavanje cilindara i ravni u nestruktuiranim oblacima tačaka. Predloženi proces prepoznavanja se može podeliti u tri osnovne faze. Prvu fazu predstavlja automatska segmentacija širenjem regiona počev od jedne karakteristične tačke. Kriterijumi širenja regiona zasnovani su na osobinama singularnosti informacione matrice sistema kao i pripadnosti tačaka površi čiji su parametri estimirani metodom najmanjih kvadrata. Druga faza algoritma se odnosi na grupisanje presegmentiranih oblasti i estimaciju parametara prepoznatih cilindara i ravni. Dobre performanse ovoj fazi obezbeđuje upotreba unapređenog algoritma robusnog prepoznavanja cilindara iz oblaka tačaka kao i uvođenje procesa precizne estimacije parametara ravni. Na samom kraju, odnosno u trećoj fazi procesa upotrebom predloženog algoritma vrši se ponovna obrada celokupnog polaznog oblaka tačaka u cilju ekstrakcije prepoznatih primitiva i obezbeđivanja preciznih krajnjih rezultata. Predloženi metod je pre svega namenjen prepoznavanju cilindara i ravni u oblacima tačaka koji reprezentuju određene mašinske delove, pa je u skladu sa tim i eksperimentalno verifikovan na većem broju odgovarajućih sintetizovanih oblaka.
C3  - 41. JUPITER konferencija, Zbornik radova
T1  - Prepoznavanje cilindara i ravni u trodimenzionim oblacima tačaka
EP  - 2.18
SP  - 2.9
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5221
ER  - 

@conference{
author = "Marković, Veljko and Jakovljević, Živana and Budak, Igor",
year = "2018",
abstract = "U radu se predlaže metod za prepoznavanje cilindara i ravni u nestruktuiranim oblacima tačaka. Predloženi proces prepoznavanja se može podeliti u tri osnovne faze. Prvu fazu predstavlja automatska segmentacija širenjem regiona počev od jedne karakteristične tačke. Kriterijumi širenja regiona zasnovani su na osobinama singularnosti informacione matrice sistema kao i pripadnosti tačaka površi čiji su parametri estimirani metodom najmanjih kvadrata. Druga faza algoritma se odnosi na grupisanje presegmentiranih oblasti i estimaciju parametara prepoznatih cilindara i ravni. Dobre performanse ovoj fazi obezbeđuje upotreba unapređenog algoritma robusnog prepoznavanja cilindara iz oblaka tačaka kao i uvođenje procesa precizne estimacije parametara ravni. Na samom kraju, odnosno u trećoj fazi procesa upotrebom predloženog algoritma vrši se ponovna obrada celokupnog polaznog oblaka tačaka u cilju ekstrakcije prepoznatih primitiva i obezbeđivanja preciznih krajnjih rezultata. Predloženi metod je pre svega namenjen prepoznavanju cilindara i ravni u oblacima tačaka koji reprezentuju određene mašinske delove, pa je u skladu sa tim i eksperimentalno verifikovan na većem broju odgovarajućih sintetizovanih oblaka.",
journal = "41. JUPITER konferencija, Zbornik radova",
title = "Prepoznavanje cilindara i ravni u trodimenzionim oblacima tačaka",
pages = "2.18-2.9",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5221"
}

Marković, V., Jakovljević, Ž.,& Budak, I.. (2018). Prepoznavanje cilindara i ravni u trodimenzionim oblacima tačaka. in 41. JUPITER konferencija, Zbornik radova, 2.9-2.18.
https://hdl.handle.net/21.15107/rcub_machinery_5221

Marković V, Jakovljević Ž, Budak I. Prepoznavanje cilindara i ravni u trodimenzionim oblacima tačaka. in 41. JUPITER konferencija, Zbornik radova. 2018;:2.9-2.18.
https://hdl.handle.net/21.15107/rcub_machinery_5221 .

Marković, Veljko, Jakovljević, Živana, Budak, Igor, "Prepoznavanje cilindara i ravni u trodimenzionim oblacima tačaka" in 41. JUPITER konferencija, Zbornik radova (2018):2.9-2.18,
https://hdl.handle.net/21.15107/rcub_machinery_5221 .

TY  - CONF
AU  - Šokac, Mario
AU  - Budak, Igor
AU  - Jakovljević, Živana
AU  - Santoši, Željko
AU  - Vukelić, Đorđe
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5218
AB  - Uopšteno govoreći, segmentacija predstavlja postupak klasifikacije objekata od interesa i njihove ekstrakcije od pozadine, a kao postupak predstavlja neizostavan korak kod obrade slike. U okviru ovog rada biće predstavljena podela i pregled najčešće primenjivanih metoda za segmentaciju slike. Na osnovu literaturnih izvora izvršena je klasifikacija metoda u odnosu na njihov mehanizam sa kratkim opisom osnovih podela i analizom najčešće primenjivanih metoda.
C3  - ETIKUM 2018, Zbornik radova
T1  - Pregled stanja i analiza najčešće primenjivanih metoda za segmentaciju slike
EP  - 84
SP  - 81
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5218
ER  - 

@conference{
author = "Šokac, Mario and Budak, Igor and Jakovljević, Živana and Santoši, Željko and Vukelić, Đorđe",
year = "2018",
abstract = "Uopšteno govoreći, segmentacija predstavlja postupak klasifikacije objekata od interesa i njihove ekstrakcije od pozadine, a kao postupak predstavlja neizostavan korak kod obrade slike. U okviru ovog rada biće predstavljena podela i pregled najčešće primenjivanih metoda za segmentaciju slike. Na osnovu literaturnih izvora izvršena je klasifikacija metoda u odnosu na njihov mehanizam sa kratkim opisom osnovih podela i analizom najčešće primenjivanih metoda.",
journal = "ETIKUM 2018, Zbornik radova",
title = "Pregled stanja i analiza najčešće primenjivanih metoda za segmentaciju slike",
pages = "84-81",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5218"
}

Šokac, M., Budak, I., Jakovljević, Ž., Santoši, Ž.,& Vukelić, Đ.. (2018). Pregled stanja i analiza najčešće primenjivanih metoda za segmentaciju slike. in ETIKUM 2018, Zbornik radova, 81-84.
https://hdl.handle.net/21.15107/rcub_machinery_5218

Šokac M, Budak I, Jakovljević Ž, Santoši Ž, Vukelić Đ. Pregled stanja i analiza najčešće primenjivanih metoda za segmentaciju slike. in ETIKUM 2018, Zbornik radova. 2018;:81-84.
https://hdl.handle.net/21.15107/rcub_machinery_5218 .

Šokac, Mario, Budak, Igor, Jakovljević, Živana, Santoši, Željko, Vukelić, Đorđe, "Pregled stanja i analiza najčešće primenjivanih metoda za segmentaciju slike" in ETIKUM 2018, Zbornik radova (2018):81-84,
https://hdl.handle.net/21.15107/rcub_machinery_5218 .

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

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

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

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

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

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

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

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

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

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

TY  - CONF
AU  - Šokac, Mario
AU  - Budak, Igor
AU  - Santoši, Željko
AU  - Spasić, Aleksandar
AU  - Jakovljević, Živana
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5229
AB  - Neosporna je uloga i primena medicinskih snimaka u današnjoj oblasti medicine i stomatologije    jer je na osnovu njih moguće izvršiti tačnu dijagnozu kod pacijenata. Međutim, primenom savremenih    uređaja za akviziciju ovih snimaka, mogu se pojaviti određene anomalije u vidu artefakata na    medicinskim simcima. Uporedo sa ovim problemom, razvijale su se i metode za obradu medicinskih    snimaka. Kako bi se verifikovala njihova primena i dokazala uspešnost njihove primene, tako su se    razvijale i mnoge metode i evaluatori za analizu i statističku obradu ovih snimaka. U ovom radu biće    prikazane neke od najčešće primenjivanih statističkih metoda i evaluatora koji se koriste kod analize    medicinskih snimaka.
C3  - ETIKUM 2017, Zbornik radova
T1  - Uloga statističkih evaluatora i njihova primena kod analize tačnosti segmentiranih medicinskih snimaka
EP  - 156
SP  - 153
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5229
ER  - 

@conference{
author = "Šokac, Mario and Budak, Igor and Santoši, Željko and Spasić, Aleksandar and Jakovljević, Živana",
year = "2017",
abstract = "Neosporna je uloga i primena medicinskih snimaka u današnjoj oblasti medicine i stomatologije    jer je na osnovu njih moguće izvršiti tačnu dijagnozu kod pacijenata. Međutim, primenom savremenih    uređaja za akviziciju ovih snimaka, mogu se pojaviti određene anomalije u vidu artefakata na    medicinskim simcima. Uporedo sa ovim problemom, razvijale su se i metode za obradu medicinskih    snimaka. Kako bi se verifikovala njihova primena i dokazala uspešnost njihove primene, tako su se    razvijale i mnoge metode i evaluatori za analizu i statističku obradu ovih snimaka. U ovom radu biće    prikazane neke od najčešće primenjivanih statističkih metoda i evaluatora koji se koriste kod analize    medicinskih snimaka.",
journal = "ETIKUM 2017, Zbornik radova",
title = "Uloga statističkih evaluatora i njihova primena kod analize tačnosti segmentiranih medicinskih snimaka",
pages = "156-153",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5229"
}

Šokac, M., Budak, I., Santoši, Ž., Spasić, A.,& Jakovljević, Ž.. (2017). Uloga statističkih evaluatora i njihova primena kod analize tačnosti segmentiranih medicinskih snimaka. in ETIKUM 2017, Zbornik radova, 153-156.
https://hdl.handle.net/21.15107/rcub_machinery_5229

Šokac M, Budak I, Santoši Ž, Spasić A, Jakovljević Ž. Uloga statističkih evaluatora i njihova primena kod analize tačnosti segmentiranih medicinskih snimaka. in ETIKUM 2017, Zbornik radova. 2017;:153-156.
https://hdl.handle.net/21.15107/rcub_machinery_5229 .

Šokac, Mario, Budak, Igor, Santoši, Željko, Spasić, Aleksandar, Jakovljević, Živana, "Uloga statističkih evaluatora i njihova primena kod analize tačnosti segmentiranih medicinskih snimaka" in ETIKUM 2017, Zbornik radova (2017):153-156,
https://hdl.handle.net/21.15107/rcub_machinery_5229 .

TY  - CONF
AU  - Mitrović, Stefan
AU  - Jakovljević, Živana
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5230
AB  - Savremene proizvodne sisteme karakteriše potreba za kratkim odzivom na nove tržišne zahteve,    uz vrhunski kvalitet proizvoda i maksimalnu efikasnost. Tako visok tehnološki nivo dostiže se primenom    fleksibilnih tehnologija, čiji su osnov proizvodna sredstva sa rekonfigurabilnom hardverskom i    softverskom strukturom. Distribuirano upravljanje podržava opisani pristup proizvodnji kroz    decentralizovano izvršavanje upravljačkog zadatka na više inteligentnih (pametnih) uređaja. Uz    adekvatnu primenu, distribuirano upravljanje može dovesti do značajnih ušteda energije, materijala i    vremena. U okviru ovog rada opisan je distribuirani sistem upravljanja pneumatskim robotom zasnovan    na standardu IEC 61499, uz upotrebu komunikacije bazirane na standardu IEC 802.15.4.
C3  - ETIKUM 2017, Zbornik radova
T1  - Primena distribuiranog sistema upravljanja baziranog na IEC 61499 i 802.15.4 standardima
EP  - 40
SP  - 37
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5230
ER  - 

@conference{
author = "Mitrović, Stefan and Jakovljević, Živana",
year = "2017",
abstract = "Savremene proizvodne sisteme karakteriše potreba za kratkim odzivom na nove tržišne zahteve,    uz vrhunski kvalitet proizvoda i maksimalnu efikasnost. Tako visok tehnološki nivo dostiže se primenom    fleksibilnih tehnologija, čiji su osnov proizvodna sredstva sa rekonfigurabilnom hardverskom i    softverskom strukturom. Distribuirano upravljanje podržava opisani pristup proizvodnji kroz    decentralizovano izvršavanje upravljačkog zadatka na više inteligentnih (pametnih) uređaja. Uz    adekvatnu primenu, distribuirano upravljanje može dovesti do značajnih ušteda energije, materijala i    vremena. U okviru ovog rada opisan je distribuirani sistem upravljanja pneumatskim robotom zasnovan    na standardu IEC 61499, uz upotrebu komunikacije bazirane na standardu IEC 802.15.4.",
journal = "ETIKUM 2017, Zbornik radova",
title = "Primena distribuiranog sistema upravljanja baziranog na IEC 61499 i 802.15.4 standardima",
pages = "40-37",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5230"
}

Mitrović, S.,& Jakovljević, Ž.. (2017). Primena distribuiranog sistema upravljanja baziranog na IEC 61499 i 802.15.4 standardima. in ETIKUM 2017, Zbornik radova, 37-40.
https://hdl.handle.net/21.15107/rcub_machinery_5230

Mitrović S, Jakovljević Ž. Primena distribuiranog sistema upravljanja baziranog na IEC 61499 i 802.15.4 standardima. in ETIKUM 2017, Zbornik radova. 2017;:37-40.
https://hdl.handle.net/21.15107/rcub_machinery_5230 .

Mitrović, Stefan, Jakovljević, Živana, "Primena distribuiranog sistema upravljanja baziranog na IEC 61499 i 802.15.4 standardima" in ETIKUM 2017, Zbornik radova (2017):37-40,
https://hdl.handle.net/21.15107/rcub_machinery_5230 .

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

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

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

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

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

TY  - CONF
AU  - Lesi, Vuk
AU  - Jakovljević, Živana
AU  - Pajić, Miroslav
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2322
AB  - Modern manufacturing systems require fast and effective adaptation to fluctuating market conditions and product diversification. This high level adaptability can be achieved through the utilization of Reconfigurable Manufacturing Systems (RMS), which should be based on modular equipment that is easily integrated, scalable, convertible in terms of functionality, and self diagnosable. RMS also necessitate the use of a dynamic controller architecture that is distributed, fully modular, and self configurable. In this paper, we present a control system design approach for reconfigurable machine tools through the use of modularized and decentralized CNC control. Specifically, we investigate design challenges for Plug-n-Play automation systems, where new system functionalities, such as adding new axes in existing CNC units, can be introduced without significant reconfiguration efforts and downtime costs. We propose a fully decentralized motion control architecture realized through a network of individual axis control modules. Reconfiguration of motion control systems based on this architecture can be achieved by only presenting the controller on each axis with information about machine configuration and the type of axis. This effectively enables modularity, reconfigurability, and interoperability of the machine control system. Finally, we present an implementation of the decentralized architecture based on the use of a real-time operating system, wireless networking, and low-cost ARM Cortex-M3 MCUs; we illustrate its effectiveness by considering machining of a standard test part defined in ISO 10791-7 using a software-in-the-loop testbed.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
T1  - Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems
VL  - 2016-November
DO  - 10.1109/ETFA.2016.7733524
ER  - 

@conference{
author = "Lesi, Vuk and Jakovljević, Živana and Pajić, Miroslav",
year = "2016",
abstract = "Modern manufacturing systems require fast and effective adaptation to fluctuating market conditions and product diversification. This high level adaptability can be achieved through the utilization of Reconfigurable Manufacturing Systems (RMS), which should be based on modular equipment that is easily integrated, scalable, convertible in terms of functionality, and self diagnosable. RMS also necessitate the use of a dynamic controller architecture that is distributed, fully modular, and self configurable. In this paper, we present a control system design approach for reconfigurable machine tools through the use of modularized and decentralized CNC control. Specifically, we investigate design challenges for Plug-n-Play automation systems, where new system functionalities, such as adding new axes in existing CNC units, can be introduced without significant reconfiguration efforts and downtime costs. We propose a fully decentralized motion control architecture realized through a network of individual axis control modules. Reconfiguration of motion control systems based on this architecture can be achieved by only presenting the controller on each axis with information about machine configuration and the type of axis. This effectively enables modularity, reconfigurability, and interoperability of the machine control system. Finally, we present an implementation of the decentralized architecture based on the use of a real-time operating system, wireless networking, and low-cost ARM Cortex-M3 MCUs; we illustrate its effectiveness by considering machining of a standard test part defined in ISO 10791-7 using a software-in-the-loop testbed.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "IEEE International Conference on Emerging Technologies and Factory Automation, ETFA",
title = "Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems",
volume = "2016-November",
doi = "10.1109/ETFA.2016.7733524"
}

Lesi, V., Jakovljević, Ž.,& Pajić, M.. (2016). Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems. in IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Institute of Electrical and Electronics Engineers Inc.., 2016-November.
https://doi.org/10.1109/ETFA.2016.7733524

Lesi V, Jakovljević Ž, Pajić M. Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems. in IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. 2016;2016-November.
doi:10.1109/ETFA.2016.7733524 .

Lesi, Vuk, Jakovljević, Živana, Pajić, Miroslav, "Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems" in IEEE International Conference on Emerging Technologies and Factory Automation, ETFA, 2016-November (2016),
https://doi.org/10.1109/ETFA.2016.7733524 . .

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

TY  - CONF
AU  - Jakovljević, Živana
AU  - Marković, Veljko
AU  - Miladinović, Momčilo
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5617
AB  - Cylindrical surfaces, as one of the most frequent surfaces in mechanical engineering, are represented by elliptical (circular) or linear segments in scanned lines within structured point cloud. Having this in mind, segmentation and fitting of elliptical regions is a very important issue in the recognition of cylindrical surfaces. This paper presents the research in the recognition of elliptical (or circular) segments in scanned lines. Segments connected with G1 (or higher) continuity are considered. Presented method is based on seed independent region growing using direct least squares fitting of ellipses. The method is tested in the case studies considering synthesized as well as real world (scanned lines) examples.
C3  - ETIKUM 2014, Zbornik radova
T1  - Recognition of elliptical segments in scanned lines
EP  - 22
SP  - 19
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5617
ER  - 

@conference{
author = "Jakovljević, Živana and Marković, Veljko and Miladinović, Momčilo",
year = "2014",
abstract = "Cylindrical surfaces, as one of the most frequent surfaces in mechanical engineering, are represented by elliptical (circular) or linear segments in scanned lines within structured point cloud. Having this in mind, segmentation and fitting of elliptical regions is a very important issue in the recognition of cylindrical surfaces. This paper presents the research in the recognition of elliptical (or circular) segments in scanned lines. Segments connected with G1 (or higher) continuity are considered. Presented method is based on seed independent region growing using direct least squares fitting of ellipses. The method is tested in the case studies considering synthesized as well as real world (scanned lines) examples.",
journal = "ETIKUM 2014, Zbornik radova",
title = "Recognition of elliptical segments in scanned lines",
pages = "22-19",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5617"
}

Jakovljević, Ž., Marković, V.,& Miladinović, M.. (2014). Recognition of elliptical segments in scanned lines. in ETIKUM 2014, Zbornik radova, 19-22.
https://hdl.handle.net/21.15107/rcub_machinery_5617

Jakovljević Ž, Marković V, Miladinović M. Recognition of elliptical segments in scanned lines. in ETIKUM 2014, Zbornik radova. 2014;:19-22.
https://hdl.handle.net/21.15107/rcub_machinery_5617 .

Jakovljević, Živana, Marković, Veljko, Miladinović, Momčilo, "Recognition of elliptical segments in scanned lines" in ETIKUM 2014, Zbornik radova (2014):19-22,
https://hdl.handle.net/21.15107/rcub_machinery_5617 .