Novi Beograd, Serbia
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Kvrgic V.,Lola Institute | Dimic Z.,Lola Institute | Cvijanovic V.,Lola Institute | Ilic D.,Lola Institute | Bucan M.,Lola Institute
International Journal of Advanced Manufacturing Technology | Year: 2012

It is very useful to accomplish turning and fiveaxis milling, drilling and boring in only one setup, which is possible on five-axis turning centres. In this paper, we present a control algorithm for this machine with two translational and three rotational axes. The turning centre has a two rotary axis head with axes that do not intersect. This increases the possibility of machining and allows for certain types of machining without the machine taking the singular positions. The high angular speed of the table required for turning causes heating of the table-bearing support and base thermal deflection. If milling or drilling is done immediately after turning, the motion of the machine axis should be corrected to eliminate the error in machining that arises because of the deflection, a correction that has been done in this paper. The solution for the forward and inverse kinematics for this type of machine allows for programming the machine motion as if the machining were performed on a five-axis gantry milling machine. This has essentially facilitated machine programming. © Springer-Verlag London Limited 2011.

Kablar N.A.,Lola Institute
2010 15th International Conference on Methods and Models in Automation and Robotics, MMAR 2010 | Year: 2010

In this paper we develop dissipativity results for discrete nonlinear and linear singular systems. To the best knowledge of author results are nonexistent. We generalize dissipativity theory to discrete nonlinear singular dynamical systems. Specifically, the classical concepts of system storage functions and supply rates are extended to singular dynamical systems providing a generalized system energy interpretation in terms of stored energy and dissipated energy over the discrete-time system dynamics. For the class of discrete singular systems we present Kalman-Yakubovich-Popov conditions in terms of the discrete singular system dynamics characterizing dissipativeness via system storage function. The framework is specialized to passive and nonexpansive discrete singular systems to provide a generalization of the classical notions of passivity and nonexpansivity for nonlinear discrete singular systems. ©2010 IEEE.

Kvrgic V.M.,Lola Institute | Vidakovic J.Z.,Lola Institute | Lutovac M.M.,Lola Institute | Ferenc G.Z.,Lola Institute | Cvijanovic V.B.,Lola Institute
Robotics and Computer-Integrated Manufacturing | Year: 2014

Pilots of modern combat aircraft are exposed to the devastating effects of high acceleration forces. The pilotsש2014 Elsevier Ltd. All rights reserved.

The paper presents analyzed statistical properties of music signals from various instruments playing at different speeds. The signals are contained in about an hour of music recorded in the form of ten sequences. The analyzed signals are obtained from five different speeds of playing music for each sequence. For each playing speed time variation of the signal level was found, performed with a 10 ms period of integration in rms calculation and with 70% overlap, statistical and cumulative distributions of signal level, skewness and kurtosis, the parameters L 1, L 5, L 50, L 95 and L 99, which are derived from cumulative distributions as numerical indicators of dynamic properties. The paper contains detailed statistical data for all five-speed playing. © 2011 IEEE.

Misic N.Z.,Lola Institute
10th Symposium on Neural Network Applications in Electrical Engineering, NEUREL-2010 - Proceedings | Year: 2010

The genetic code is analyzed as one of the major natural codes, which as such can reveal the deeper principles of optimal coding. The analysis is based on a discovery that the symmetrical architecture of genetic code and the nucleon number of its constituents - the free canonical amino acids and bases, are strictly determined by the prime number with a cycling digit property - 037. A detailed derivation for all types of analogues of 037 is given and shown that they represent a special case of cyclic numbers whose digits and multipliers are equidistant. The derived generic formula for analogues of 037 is correlated with cyclotomic and generalized Golden Mean polynomials, by which is shown their relation with discrete self-similarity, why author named them the Self-similar Numbers. Also it is given their relationship with the cyclic codes, which is with fact that the genetic code is arranged in multiple ways at different levels as a cyclic code, generally indicate that the hierarchically nested cyclicality is one of the principles of fractal organization of the genetic code, as well as the other organic codes in the living organisms. © 2010 IEEE.

Manasijevic S.,LOLA Institute | Radisa R.,LOLA Institute | Markovic S.,University of Belgrade | Acimovic-Pavlovic Z.,University of Belgrade | Raic K.,University of Belgrade
Intermetallics | Year: 2011

In this research paper, the phases identified by thermal and microscopic analysis of the piston alloy AlSi13Cu4Ni2Mg, which was solidified under different conditions, are presented and compared with different piston alloys. Piston alloys are a group of casting Al-Si alloys, well-known as wear resistant materials, which are widely used as the piston materials for internal combustion engines because of their low thermal expansion coefficient and high wear resistance when alloyed with other elements such as copper, magnesium and nickel. Depending on the combination of alloying elements and other impacting factors, pistons alloys with different mechanical and physical properties are obtained. © 2010 Elsevier Ltd. All rights reserved.

Banduka M.L.,University of Belgrade | Banduka M.L.,Lola Institute
International Journal of Engineering Education | Year: 2016

Resources in the robotics field are limited for a common user to access and demand deep knowledge of robot programming paradigm, so it is not often possible for students to become familiar in a practical manner with the programming and control of complex robotic systems. The aim of this new approach is to get high school students interested in the programming and control of robotic manipulators and to teach senior year students how to program control algorithms and to control complex robotic systems by using remote access to the robotic laboratory and a programming method that does not require deep knowledge of robot programming language. Additionally, the objective is to accomplish this aim by using widespread and inexpensive devices such as smartphones and tablets. To achieve these objectives, we have developed Robotics First-an Android OS (operating system)-based environment for simulation and remote control of robotic manipulators using mobile devices. The efficacy of Robotics First was evaluated from the point of view of 64 electrical engineering students, concerning its usability and usefulness. © 2016 TEMPUS Publications.

Robot control systems are usually complex systems whose users must be well trained to use them. Also, control process is mainly carried out near the robot or by using wired connections. There is a need for a solution that can provide convenient and intuitive robot control with user’s location independence, easy adjustment and simultaneously monitoring of robot motion tasks. Android devices are powerful mobile devices with open architecture and permanently Internet connection that can be applied to resolving those issues. This paper presents a system for remote monitoring and control of industrial robots based on Android device and Wi-Fi communication which provides intuitive robot control at a great distance with simultaneously monitoring of robot motions by observing its 3D model movement or trajectory path. Simple definition of new motion tasks and their redefinition is provided through the so called “speed dial” mode and manual robot guiding is provided through the manual control mode. Proposed solution simplifies an interaction between the human and the industrial robot in the case of robot motion control and tracking at remote location. © 2015, KoREMA. All rights reserved.

Pavlovic V.D.,University of Niš | Lutovac M.M.,Lola Institute | Lutovac M.D.,State University of Novi Pazar
International Journal of Reasoning-based Intelligent Systems | Year: 2012

The paper presents the automated design of active RC and programmable filters. The approximating function is derived using Legendre orthogonal polynomial with the appropriate weights and usage of two Legendre multiplication factors at the origin and the pass-band edge frequency. Detailed analysis is done for the frequency response and sensitivity analysis of active RC filters. Optimisation is performed using symbolic manipulation of expressions inputted into computer algebra system and numeric solvers. The code is in the form of template notebook, and the user should specify the minimal number of numeric values, such as the number of secondorder filter sections, the pass-band edge frequency, the reflection coefficient, and the preferred values of component values. Copyright © 2012 Inderscience Enterprises Ltd.

Numerous arithmetical regularities of nucleon numbers of canonical amino acids for quite different systematizations of the genetic code, which are dominantly based on decimal number 037, indicate the hidden existence of a more universal ordering principle. Mathematical analysis of number 037 reveals that it is a unique decimal number from which an infinite set of self-similar numbers can be derived with the nested numerical, geometrical, and arithmetical properties, thus enabling the nested coding and computing in the (bio)systems by geometry and resonance. The omnipresent fractal structural and dynamical organization, as well as the intertwining of quantum and classical realm in the physical and biological systems could be just the consequence of such coding and computing.

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