Publications

Selected Papers

1. Vukobratovic M., Herr H., Borovac B., Raković M., Popovic M., Hofmann A., Jovanovic M., Potkonjak V., “Biological Principles of Control Selection for a Humanoid Robot’s Dynamic Balance preservation” Intern. Journ. of Humanoid Robotics, Vol 5, No 3, pp 1-40, September issue 2008.

2. Vukobratovic M., Jovanovic M., “Active Exoskeletons, Beginning, Present State and the Future”, Engineering & automation problems, Vol 4, pp 7-17, 2007, ISSN 0234-6206, 2007.

3. Vukobratovic M., Jovanovic M., “New Frontiers in Humanoid Robotics”, Engineering & automation problems, Vol 1, pp 3-14, 2008, ISSN 0234-6206, 2007.

Projects

Universal automatic manufacturing machine (Mihajlo Pupin Institute - MPI, Belgrade)
Hardware design of controller for two axis stepper-motor system including PC controller through RS485 and local speed and position control. Controller is based on Intel 51 controller with real time operating system. Software has position force and speed loop for two degree of freedom.

Universal Educational Robot (MPI, Belgrade)
Hardware and software design of controller for universal school robot ROBED. Controller is PC and PC104 based with real time operating system. Controller has 6 degree of freedom with encoder capability.

Motor control Encoder-DAC Interface board (Engineering Services Inc. – Toronto, Canada)
Hardware design of multifunction PC104 encoder board. Board has 4 single ended or differential encored inputs, 16 TTL digital inputs 4 TTL digital outputs and 4 motor control analog outputs.

Universal Digital Input-Output board (Engineering Services Inc. – Toronto, Canada)
Hardware design of universal digital input-output board based on PC104 standard. Board has 16 optically isolated inputs and 8 optically isolated outputs. The board is used in the following Bio-Rad products:

Automatic gear transmition controller for military use (Yugoslav Army – YA - Belgrade)
Hardware and software design for automatic gear transmition controller. Hardware is PC104 platform based. The measurement of speed and moment via ultra speed AD conversion. Software is multi-tasking platform for real time control.

Automatic trainer (INTT / Mechanical faculty in Belgrade)
Hardware design of automatic trainer. This is motor platform designed for invalid patients for leg movement. Device is used together with VIBROAPLICATOR. Device is European patent protected.

VIBROPALICATOR (INTT & Mechanical faculty in Belgrade)
Hardware and software design of PC compatible medical real-time device for post insult and hemiparesas patient treatment. Device is based on PC platform and generate ultra low vibrations (10-120Hz). Special vibro-shoos are designed for patent treatment. Windows based user interface written in C++ is used for system control. Device is European patent protected.

ANTIDOLOR (INTT & Mechanical faculty Belgrade)
Hardware and software design of universal real-time device for pain treatment based on ultra low vibrations (10-120Hz). Device has two electro-magnetic vibro-microsonde specially designed to activate biological active points to remove pain. Device is European patent protected.

4 Axis Distribution Board For Biotechnology Robotic Devices (Engineering Services Inc. – Toronto, Canada)
Hardware design of PC ISA and PC104 compatible distribution board for Biotechnology robotic Device. Used in SDDC arrayer and CP robotic systems for high precision 4-axis control. (http://www.esit.com/). A version of this board is used within the following Bio-Rad products:

MR5 Robot Distribution Board Control System (Engineering Services Inc. – Toronto, Canada)
Hardware design of PC ISA and PC104 compatible controller for MR5 robot control system. Robot controller has 9 degree of freedom controlled by PC platform. Incremental encoders obtain high accuracy of position control. MR5 is unique mobile system. (http://www.esit.com)

Automatic Temperature Control System for Dryer (Bioprotein-Obrenovac)
Designed and development of control software for µPLC programmable controller for Dryer temperature control system. Software is written in C and assembler together with real-time scheduler.

Board Testing System (Cement factory Paracin)
Hardware design of PC compatible device for testing EURO type digital boards based on 4040-processor type. Designed and developed C++ based software for testing of 4040-procesor type boards.

Automatic Temperature Control System for Dryer (Bioprotein-Obrenovac)
Designed and development of control software for µPLC programmable controller for Dryer temperature control system. Software is written in C and assembler together with real-time scheduler.

Board Testing System (Cement factory Paracin)
Hardware design of PC compatible device for testing EURO type digital boards based on 4040-processor type. Designed and developed C++ based software for testing of 4040-procesor type boards.

Tank Targeting Training System (YA - Belgrade)
Hardware design of device for operator training based on flash micro controller and laser pointer. Design and development control software for tank training targeting system (assembler).

Time Machine (MPI -Belgrade)
Hardware design for a family of devices based on Philips 80C751 and Atmel 89C52 micro controller (5 inputs, 2 outputs 4*LED 7-sg digits, 4 momentary switches, 35mm DIN rail mountable). Software configurable for wind speed monitoring, timing relay, counter, RPM monitoring and control. Created a software library platform for Time Machine system.

µPLC (MPI -Belgrade)
Hardware design for uPLC-504 (80537 based, 16I/12O reconfigurable and locally programmable at the parametric level). Designed and developed test program for µPLC system. Created a software library platform for µPLC system

ROM-Emulator (MPI - Belgrade)
Designed and developed ROM emulator and FLASH emulator hardware. Windows based user interface for the ROM-emulator development product written in C++.

Automatic Control Water Recycling system (Port Novorosijsk –Russia)
Design and development control software for automatic water recycling control system using small PLC controller. Used C and assembler together with real-time scheduler

High Precision Dose System For Component Color Mixing (Suko-Pirot, Serbia)
Design and development control software for high precision component dose in color mixing. Using real time operating system, AD conversion and mass and temperature measurement. Low precision flow control is developed for internal control.

High-Yield Mixer Control System (Grmeč-Belgrade, Serbia)
Designed and developed control software for the controller of a high‑yield mixer. The measurement of active power via AD conversion of phase voltage and current. Used C and assembler together with real-time scheduler. Implemented system robustness via state-machine design and WDT.

Mobile Target System (YA - Belgrade)
Designed and developed control software for the distributed system that operated on the site for the military shooting training activities. System implemented a robust communication protocol for command exchange and real time data collection.

Mine Field Placer Vehicle (YA - Belgrade)
Designed and developed from scratch the software for the control of mine field placer.

Indoor security system (Internal use in StanCo corporation)
Hardware design for indoor security system based on IR detectors and magnetic sensors.

Patents

Serbian patent YU 4896B ANTIDOLOR
Serbian patent YU 48877B VIBROAPLIKATOR
Serbian patent YU 48943B AUTOMATIC TRAINER

European patent PCT YU 98-0002 ANTIDOLOR
European patent PCT YU 98-0003 VIBROAPLICATOR
European patent PCT YU 98-0004 AUTOMATIC TRAINER