Jelena Vidakovic

Jelena Vidakovic
Lola Institut · ILR Robotics lab

Doctor of Engineering

About

35
Publications
11,970
Reads
How we measure 'reads'
A 'read' is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or downloads the full-text. Learn more
123
Citations
Citations since 2017
14 Research Items
94 Citations
201720182019202020212022202305101520
201720182019202020212022202305101520
201720182019202020212022202305101520
201720182019202020212022202305101520
Introduction
Jelena Vidakovic currently works at the Robot control Department in Lola Institute, Belgrade (Serbia). Her main research areas include Robot control and Control Systems Design.

Publications

Publications (35)
Chapter
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...
Conference Paper
Full-text available
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...
Conference Paper
Full-text available
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...
Conference Paper
Full-text available
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...
Article
Full-text available
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...
Article
Full-text available
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...
Article
Full-text available
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...
Chapter
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...
Article
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...
Article
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’...
Article
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...
Conference Paper
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...
Article
Full-text available
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...
Conference Paper
Full-text available
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...
Article
Full-text available
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...
Article
Full-text available
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...
Article
Full-text available
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...
Article
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...
Article
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...
Conference Paper
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...
Article
Full-text available
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.
Article
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...
Conference Paper
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...
Conference Paper
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...
Conference Paper
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...
Conference Paper
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...
Conference Paper
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...

Network

Cited By

Projects

Project (1)
Project
The project aims to prove the new concept of the desktop machine tool with a horizontal rotating device chuck as a multifunctional desktop machine tool. If the concept is proved, MultiProDesk will offer a unique multipurpose solution in the desktop machine tools and rapid prototyping domain. MultiProDesk will represent a valuable production tool for various production technologies such as relief machining, 3D engraving, prototyping of symmetrical and asymmetrical cylindrical parts, carving on soft materials like plastic, wood, etc. Another usage of MultiProDesk is for educational purposes where it fully trains and supports professional design teams, students, and creative individuals by being versatile, adaptable, and affordable. As an open architecture structure, it is suitable for further upgrades and development by the machine designers and end-users according to their special requirements. The advanced control system will ensure fast and simple adaptation to any of three configurations enabling employment of different machining technologies, smooth change of function, and safe and stable operation. The concept of the novel multifunctional desktop machine will have great value for SMEs in various production industries. MultiProDesk will enable the SME users to adopt mass customization concept and to reach mass personalization production, as a step to Industry 4.0. Research grant was obtained from Innovation Fund of Republic of Serbia through Proof of Concept 2020 Program. MultiProDesk team is composed of researchers from Lola institute, Belgrade, and Faculty of Mechanical Engineering in Belgrade, Department of Production Engineering. Team participants: Zoran Dimic, Sasa Zivanovic, Nikola Slavkovic, Nikola Vorkapic, and Jelena Vidakovic.