Pavle Stepanic

Lola Institut · Computer Controlled Systems

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...

Production of three-dimensional parts in 3D printing process gains growing importance in various fields, such as: aviation and car industry, architecture, medicine, dentistry, etc. Mechanical performance is an important users' requirement for manufacturers of 3D printed parts. Furthermore, printed part highly depends on process parameters, position...

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...

The paper presents one example successful retrofitting of conventional horizontal milling machine into full automatic control milling machine. In addition to the new way control of machine also kept the old way with manual control of machine as provided with switch selector. The great accuracy of machine tool is performed using compensation of meas...

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...

The paper presents practical experiences during implementation of radio remote control to the electrical bridge cranes in machine room HEP "Perucica" and gantry crane at a lock on Tisa. In addition to the new way of control, also kept the old way of control from cabine cranes as provided with selector switch. Installation of radio remote control sy...

This paper presents a proposed approach to the classification of rolling element bearing faults. The approach consists of vibration signal acquisition, digital signal processing, feature extraction from the vibration signal and classification into functional or defective rolling element bearing. Digital signal processing includes signal decompositi...

This paper presents advanced techniques for the detection of bearing failures based on vibration signals. Capability of detection and diagnosis of some effective techniques are discussed and compared on the basis experimental results. In particular, we analyzed the ID3 data mining technique, detection using statistical pattern recognition and appli...

The paper presents a new approach to the classification of rolling element bearing faults by implementing statistical pattern recognition. Diagnostics of rolling element bearing faults actually represents the problem of pattern classification and recognition, where the key step is feature extraction from the vibration signal. Characterization of ea...