Jelena Vidakovic

Lola Institut · ILR Robotics lab

Safe and efficient training using flight simulation training devices (FSTD) is one of the fundamental components of training in the commercial, military, and general aviation. When compared with the live training, the most significant benefits of ground trainers include improved safety and the reduced cost of a pilot training process. Flight simula...

Growing customer requirements and global competition are factors that cause the integration of industrial robots and Industry 4.0 solutions increasingly. There is a high demand for robotics and automation solutions that are cost-effective, safe, and easy to install and reprogram, where the operator can work with the complex robots to solve unpredic...

Conventional methods for solving robot forward dynamics are characterized by high com- putational complexity. Recursive Newton-Euler algorithm (RNEA) is the most efficient com- putational method used for deriving a manipulator’s dynamic equations of motion. In order to solve robot forward dynamics using RNEA in the most widely used Walker and Orin’...

Extended reality (XR) is one of the most important technologies in developing a new generation of human–machine interfaces (HMIs). In this study, the design and implementation of a standalone interactive XR-supported industrial robot programming system using the Unity game engine is presented. The presented research aims to achieve a cross-platform...

This paper presents a finite element modeling procedure to determine of crack growth behaviour of butt welded joints under the subject of load for mode I. This paper presents a computation procedure to determine the ratio of fatigue crack growth in butt welded plates for mode I fracture mechanics loading conditions. The presence of residual stresse...

An advanced flexible programming methodology for CNC woodworking machines was developed. As the research starting base, a three-axis CNC woodworking machine was used. The developed methodology is proposed for programming, simulation, postprocessing, and machining by woodworking machine. This flexible programming method integrates the standard progr...

Simulators have become indispensable tools in the field of robotics, providing researchers and engineers with a means to design, develop, and test various aspects of robotic systems in a safe, time and cost-efficient way. Currently, several robot simulation environments exist, each with its own benefits in terms of physical realism, visual realism,...

INTRODUCTION: Preselection of pilot candidates in the military is critical and determines the quality of subsequent selection. The Aero Medical Institute in Belgrade uses the following centrifuge endpoints: peripheral vision loss, heart rate above 180 bpm, cardiac arrhythmias, and G-induced loss of consciousness to assess relaxed +G z tolerance. Th...

This research investigates the improvement of trajectory tracking in robotic systems by employing a model-based controller and a fractional-order iterative learning controller (FOILC). Robotic systems are subject to high uncertainty in the mathematical model, which directly impacts the quality of the model-based control strategy. This study focuses...

A robot dynamic model is time variable, highly non-linear and characterized by coupling effects among the robot joints. Consequently, a derivation and implementation of a robot dynamic model, which is used for purposes of control, simulation, and mechanical design, often represents a challenging task. The last couple of decades saw a great amount o...

This paper presents a method for the implementation of a robot forward kinematics algorithm that complies with the Denavit-Hartenberg (DH) convention in Robot Operating System (ROS). The integration of the algorithm in ROS is based on the representation of DH parameters in dual quaternion space. The main motivation for the presented research is to...

Human centrifuge is a motion platform used to artificially achieve transient and sustained G-load intended for physiological pilot training under controlled conditions. This paper presents the successful modernization and upgrade of the control system of the human centrifuge. Due to the need for system redundancy, in addition to the new automatic c...

In this paper, the implementation of the controller based on neural networks for controlling two-tank system is presented. A ready-made mathematical model of the Amira DTS200 system, which is a typical example of a slow nonlinear process, is used. Among the most important applications of artificial neural networks is their application in the contro...

Sustainability, one of the most important aspects of every production plant, can be enhanced through retrofitting. In this paper, retrofitting of two furnaces for metal heat treatment, namely vacuum furnace and conveyor belt furnace with protective atmosphere, are presented. The goal of the revitalization of the furnaces is modernization through th...

The robot dynamic model is essential for the precision and reliability of robot design, motion control, and simulation. A robot inertia matrix, whose elements are coefficients of joint accelerations within the robot equations of motion, plays an important role in the robot's control design. During robot motion, elements of the inertia matrix are fu...

This research focuses on a comprehensive approach to operational processes in the domain of tank management systems which is important in running tank farm safely, smoothly and successfully. The main objective is to provide the necessary information about resources, stakeholders and relationships of all relevant processes related to tank management...

A development of a robot control system is a highly complex task due to nonlinear dynamic coupling between the robot links. Advanced robot control strategies often entail difficulties in implementation, and prospective benefits of their application need to be analyzed using simulation techniques. Computed torque control (CTC) is a feedforward contr...

This paper presents a dynamic model-based design of a control system and an approach toward a drive selection of a centrifuge motion simulator (CMS). The objective of the presented method is to achieve the desired performance while taking into account the complexity of the control system and the overall device cost. An estimation of a dynamic inter...

Pilots of modern combat aircraft are exposed to the devastating effects of high acceleration forces and unusual orientation. The pilots’ ability to perform tasks under these extreme flight conditions must be examined. A centrifuge flight simulator (CFS) for pilot training is designed as a three-degree-of-freedom 3DoF manipulator with rotational axe...

Design of user-friendly and at the same time powerful robot programming methods is the subject of significant efforts undertaken by the international robotics community. For the purpose of facilitating robot programming, with regard to the most common present-day applications in industry, it would be useful to develop programming procedures for fre...

Flexible and user-friendly virtual environment, Lola Robot Simulator, was developed to simulate and supervise robot cells. 3D graphic visualisation of robots and their environment, automatic and manual movement of virtual robot axes and end-effector trajectory tracing are implemented through open-source tools on Linux platform. In this paper, a sho...

Pilots of modern combat aircraft are exposed to the devastating effects of high acceleration forces. The pilots׳ ability to perform tasks under these extreme flight conditions must be examined. A centrifuge motion simulator for pilot training is designed as a 3DoF manipulator with rotational axes. Through rotations about these axes, acceleration fo...

An algorithm for reducing the influence of geometrical, thermal, kinematic and stiffness errors in five-axis machine tool components on the desired tool position and orientation is given. This new algorithm is based on the calculation of the cutting tool error matrix for orthogonal machine tools. In the new model of this matrix, all angular errors...

Formulation of proper and efficient algorithms for robot kinematics is essential for the analysis and design of serial manipulators. Kinematic modeling of manipulators is most often performed in Cartesian space. However, due to disadvantages of most widely used mathematical constructs for description of orientation such as Euler angles and rotation...

This paper presents the kinematic characteristics of a human centrifuge for pilot training. The focus is placed on the influence of the tangential acceleration on human centrifuge performances. The main planetary motion is expressed with an ordinary first-order nonlinear differential equation, which is solved numerically. (© 2013 Wiley-VCH Verlag G...

To achieve predefined Gz load profile in high G training in human centrifuge, it is necessary to determine angular velocity and acceleration of a planetary axis (centrifuge arm). Initial value problem that can not be solved in closed form was obtained. Several discretization methods for calculating angular velocity of centrifuge arm driven by DC se...

In the process of defining commands and developing algorithms for movements of complex and massive devices, such as human centrifuge, it is unsafe and demanding to perform testing on the real machine. Getting overview of devices operations might be of great importance especially before the final realization. This paper presents a system for program...

This paper presents the kinematic characteristics of a human centrifuge for pilot training. The focus is placed on the influence of the tangential acceleration on human centrifuge performances. The main planetary motion is expressed with an ordinary first-order nonlinear differential equation, which is solved numerically.

This paper presents advantages of using open architecture for the real-time control of robot manipulators, parallel kinematics machine tools and other multi-axis machining systems. In order to increase their competitiveness, companies need to follow the global economy requirements. The constant incorporation of new technologies into existing contro...

Before the development of robotic systems, it is of great importance to perform verification of various types of scenarios within the machine work and testing. That is especially important in designing the machine with new control logic, before releasing the machine. This paper describes 3D simulator, as part of the offline system, within distribut...

Aircrew of a modern combat aircraft is exposed to hazardous effects of high G-forces and high angular velocities. In order to protect human lives and to avoid material losses, High-G training in human centrifuge is used to artificially increase accelerative force under controlled conditions. In this paper, centrifuge is modeled as 3 DoF revolute ro...

In this paper principles of modeling of a human centrifuge for pilot training, as a 3 DoF manipulator, are presented. The basis is a kinematic and dynamic model of the manipulator. The centrifuge represents a manipulator with three revolute joints. According to the D-H convention transformation matrices for the manipulator were derived. The problem...

This paper presents distributed real-time robot control system implemented on the client and server modules. The client module is used to control the real robot and send commands to the server module. An application on the server side receives the commands that contain positions of robot joints read from encoders, displays current robot coordinates...

L-IRL (Lola Industrial Robot Language) is procedural language for industrial robot programming. Offline and real-time programming system are main parts of robot programming system based on L-IRL programming language. System for robot programming is using object code as one of the main communication tools between different elements of the system. In...