Outline design of compact GNC module for missile flight control purposes

Da bi se obezbedilo da vođeni projektil bide u mogućnosti da prati unapred zadatu putanju leta velika količina sofisticirane opreme mora da bude uključena u to. Sa praktične tačke gledišta i ako to konstrukcija projektila dozvoljava, neophodni podsistemi koji moraju da budu korišćeni za upravljanje letom projektila trebalo bi da budu zasebna celina (jedan segment / modul projektila). Ukoliko je to prihvatljiv koncept, dva problema treba da budu rešena tokom projektovanja: postizanje zadovoljavajućeg odnosa između korisnog tereta (bojeva glava) i ukupne težine projektila (uključujući odgovarajuće podsisteme za vođenje, navigaciju i upravljanje) i minimizacija / optimizacija iskorišćenog prostora. Koncepcija kompaktnog modula za vođenje /engl.: Guidance/, navigaciju /engl.: Navigation/ i upravljanje /engl. Control/ (skraćeno: GNC modul) koji se sastoji od pomenutih podsistema je prezentovana u ovom radu.To ensure that the guided rocket missile could be in position to follow predefined flight trajectory, a lot of very sophisticated equipment has to be involved in. From a practical point of view and if the general design of the missile allows that, the necessary subsystems to be used in missile flight control purposes have to be assembled as a separate whole (one segment /module of the missile). If this concept is acceptable, two problems have to be solved during the designing: achieving of the satisfactory ratio between load capacity (warhead) and total weight of the missile (that includes the appropriate subsystems for guidance, navigation and control of the missile too) and minimization /optimization of the used space. The outline design of compact Guidance, Navigation and Control Module (short: GNC Module) which consists of the subsystems mentioned before is presented in this paper

Forensic analysis of bone in Regio antebrachii of deer (Capreolus capreolus) and sheep (Ovis aries) in order to determine origin of animal species

There are frequent cases of poaching in which it is necessary to determine to which animal species the prey belonged on the basis of morphological characteristics of the bone. In this case, the Department of Forensic Medicine received material for giving an expert opinion on the left and right forearm (radius and ulna) and twelve pieces of the ribs. The ribs were completely broken, so in order to identify the bones as belonging to a particular animal species, only the radius and ulna were used. Forensic analysis was perfomed by comparing the osteological features of the delivered bones with those of museum specimens of deer and sheep bones. The forearm (ossa antebrachii) of the deer is slender and thin, and it is massive and heavier in sheep. There are two interosseus spaces (spatium interosseum antebrachii) of the forearm in the deer and only one in the sheep. The olecranon tuber (tuber olecrani) of the sheep is triangular in shape, and in deer it is divided into cranial and caudal prominences. The radial tuberosity (tuberositas radii) of the sheep is better defined. Based on morphological characteristics of the disputed bones we found that the submitted material originated from a doe

Outline design of compact GNC module for missile flight control purposes

Da bi se obezbedilo da vođeni projektil bide u mogućnosti da prati unapred zadatu putanju leta velika količina sofisticirane opreme mora da bude uključena u to. Sa praktične tačke gledišta i ako to konstrukcija projektila dozvoljava, neophodni podsistemi koji moraju da budu korišćeni za upravljanje letom projektila trebalo bi da budu zasebna celina (jedan segment / modul projektila). Ukoliko je to prihvatljiv koncept, dva problema treba da budu rešena tokom projektovanja: postizanje zadovoljavajućeg odnosa između korisnog tereta (bojeva glava) i ukupne težine projektila (uključujući odgovarajuće podsisteme za vođenje, navigaciju i upravljanje) i minimizacija / optimizacija iskorišćenog prostora. Koncepcija kompaktnog modula za vođenje /engl.: Guidance/, navigaciju /engl.: Navigation/ i upravljanje /engl. Control/ (skraćeno: GNC modul) koji se sastoji od pomenutih podsistema je prezentovana u ovom radu.To ensure that the guided rocket missile could be in position to follow predefined flight trajectory, a lot of very sophisticated equipment has to be involved in. From a practical point of view and if the general design of the missile allows that, the necessary subsystems to be used in missile flight control purposes have to be assembled as a separate whole (one segment /module of the missile). If this concept is acceptable, two problems have to be solved during the designing: achieving of the satisfactory ratio between load capacity (warhead) and total weight of the missile (that includes the appropriate subsystems for guidance, navigation and control of the missile too) and minimization /optimization of the used space. The outline design of compact Guidance, Navigation and Control Module (short: GNC Module) which consists of the subsystems mentioned before is presented in this paper

Dynamic Behaviour of a Two-Stage Cycloidal Speed Reducer of a New Design Concept

Traditional cycloidal speed reducers (with two cycloid discs per one stage, mutually turned by an angle of 180°) are well known for their remarkable dynamic stability. This paper analyses dynamic behaviour of a two-stage cycloidal speed reducer of a new concept, in which only one cycloid disc is used for each stage in order to further enhance its compactness. Lagrange’s displacement equations have been used to develop independent dynamic models for both the first and the second stage (six degrees of displacement freedom for the first stage, and eight degrees of displacement freedom for the second stage). A normal force acting at the contact of the cycloid disc teeth and the corresponding ring gear roller has been taken as an excitation force. For the newly designed two-stage cycloidal speed reducer, systems of differential displacement equations of the first and second stage have been solved using the Matlab – Simulink software package. A comprehensive analysis of the obtained diagrams of elastic dynamic contact forces of the first and second stage has revealed a certain analogy. In terms of dynamics, the cycloid disc of the second stage behaves similarly to the cycloid disc of the first stage. Since these cycloid discs are mutually turned by an angle of 180°, it can be concluded that from the aspect of the cycloid disc load, the two-stage cycloidal speed reducer of a new design concept exhibits good dynamic balance and stability

Analysis of various impacts on energy consumption of electric vehicles

Due to the predicted increase of electric vehicle worldwide market share, it is very important to analyse the energy consumption and the factors affecting it. The results of the research can contribute to a better understanding of the energy resources needed and vehicle autonomy, and also to the education of drivers and potential users. This paper deals with the analysis of various factors that influence the energy consumption in electric vehicles and the examination of mathematical model, developed to predict the autonomy of such vehicles. In addition to environmental, road and vehicle design factors, the influence of the driver on the energy consumption is also considered. Based on the conducted analysis, appropriate conclusions are drawn and a proposal for future research is given.Zbog predviđenog porasta broja elektrovozila na svetskom tržištu, od velikog je značaja analizirati potrošnju energije i faktore koji na nju utiču. Rezultati istraživanja mogu doprineti sagledavanju potrebnih energetskih resursa i realne autonomije kretanja vozila, kao i edukaciji vozača i potencijalnih korisnika. Ovaj rad se bavi analizom različitih faktora koji utiču na potrošnju energije kod elektrovozila i sagledavanjem matematičkog modela, razvijenog u cilju predviđanja autonomije kretanja. Pored uticaja okoline, uslova puta i konstrukcionih karakteristika vozila, razmatran je i uticaj vozača na potrošnju energije. Na osnovu sprovedene analize izvedeni su odgovarajući zaključci i dat je predlog za buduća istraživanja

Impact of the damper characteristics on the behavior of suspension system and the whole vehicle

Damper asymmetry is a phenomenon for which there is no confirmed explanation in the literature, although it is present in almost all variants of telescopic dampers. This paper analyzes the influence of various characteristics of dampers, both symmetrical and asymmetrical, on the behavior of the suspension system and the whole vehicle. Different tests have been carried out, and they simulate the different types of vehicle movement that are present in exploitation. The simulation was performed in CarSim 8 software package for the vehicle with chosen characteristics. Appropriate conclusions were drawn on the basis of the conducted research, i.e. the differences in the behavior of the suspension system and the vehicle depending on the selected characteristics of the damper are shown

Correction: A. Hepatica in European ground squirrel (Citellus citellus) compared to other experimental animals (2016, vol. 70, iss. 1-2, pp. 31-39)

The Editor-in-Chief has been informed that authors of above-referenced article made a corrigendum to it. The article should include the following reference at the end of section Introduction (Blagojevic i sar., 2015). Also, at the section Literature following reference should be stated in full: Blagojević Miloš, Vitorović Duško, Adamović Ivana, Nešić Ivana, Brkić Zlata, Zdravković Marija, Đorđević Milena, Jović Slavoljub, Zorić Zoran, Ćupić Dejana, Vascularization of the kidney of the ground squirrel (Citellus citellus) in comparison with other experimental animals.

Impact of the damper characteristics on the behavior of suspension system and the whole vehicle

Damper asymmetry is a phenomenon for which there is no confirmed explanation in the literature, although it is present in almost all variants of telescopic dampers. This paper analyzes the influence of various characteristics of dampers, both symmetrical and asymmetrical, on the behavior of the suspension system and the whole vehicle. Different tests have been carried out, and they simulate the different types of vehicle movement that are present in exploitation. The simulation was performed in CarSim 8 software package for the vehicle with chosen characteristics. Appropriate conclusions were drawn on the basis of the conducted research, i.e. the differences in the behavior of the suspension system and the vehicle depending on the selected characteristics of the damper are shown

Developing self-modifying code model

This paper presents the technology of constructing and linearization of binary program utilized for program generation, analysis and transformation into a self-modifying code. An example model of the self-modifying software system and its experimental application in vehicle control have been presented in this paper. The module responsible for vehicle control comprising two subsystems has been created within the simulation software. The first subsystem has emerged through the classical software process developed by a human-programmer. The second subsystem has been created as a result of a separate piece of software substituting the part of a programmer in a software process part. The result of this approach is software creation in conjunction with natural and Artificial Intel- ligence in addition to experimental integration into the vehicle control system

Developing self-modifying code model

This paper presents the technology of constructing and linearization of binary program utilized for program generation, analysis and transformation into a self-modifying code. An example model of the self-modifying software system and its experimental application in vehicle control have been presented in this paper. The module responsible for vehicle control comprising two subsystems has been created within the simulation software. The first subsystem has emerged through the classical software process developed by a human-programmer. The second subsystem has been created as a result of a separate piece of software substituting the part of a programmer in a software process part. The result of this approach is software creation in conjunction with natural and Artificial Intel- ligence in addition to experimental integration into the vehicle control system