Code Optimization for Strapdown Inertial Navigation System Algorithm

Inertial navigation systems are in common use for decades due to its advantages. Since INS outputs are usually used for inputs in different control algorithms (depending on applications), INS will induce certain errors and limitations. This chapter deals with optimization of the inertial navigation algorithm against limitations due to the accuracy and stability of signals from the sensors and constraints resulting from the integration step and processor speed used for embedded applications. Inertial navigation considered here is “strapdown” inertial navigation system (SINS) which assumes a fixed inertial measurement unit (IMU). In this chapter, fundamentals of strapdown inertial navigation will be presented as well as three different algorithms which will be analyzed in regard to numerical stability, time consumption and processor load criteria

Hybrid model of product lifecycle cost management

U okviru predmetne disertacije izvršena je detaljna analiza razvijenih modela za procenu i upravljanje troškovima životnog ciklusa proizvoda i istaknut značaj upravljanja ovim troškovima u fazi razvoja proizvoda. Životni ciklus proizvoda definisan je fazama razvoja, proizvodnje, upotrebe i reciklaže, sa odgovarajućim aktivnostima, kao uzročnicima troškova. Za ovako definisani životni ciklus razvijen je hibridni model upravljanja troškovima životnog ciklusa u fazi razvoja proizvoda. Procena troškova životnog ciklusa novog proizvoda u ovom modelu vrši se primenom fazi neuronskih mreža, dok se upravljanje troškovima vrši razvojem konstrukcije u fazi konceptualnog i preliminarnog razvoja dizajna novog proizvoda i usvajanjem procesa proizvodnje koja obezbeđuje ciljne troškove i konkurentnost proizvoda na tržištu u pogledu troškova upotrebe i pogodnosti za reciklažu.In the context of this thesis, a detailed analysis of the developed models for assessing and managing the life cycle costs of products and highlighted the importance of managing these costs in the product development phase. The life cycle of a product is defined stages of development, production, use and recycling, with appropriate activities as cost drivers. For such a defined life cycle model developed hybrid life cycle cost management in the product development phase. Assessment of life cycle costs of a new product in this model is made with fuzzy neural network, while managing costs is performed at the stage of construction, development of conceptual and preliminary design development of new products and the adoption of production processes that ensures the target costs and the competitiveness of products in the market in terms of cost and use facilities for recycling

Hybrid model of product lifecycle cost management

U okviru predmetne disertacije izvršena je detaljna analiza razvijenih modela za procenu i upravljanje troškovima životnog ciklusa proizvoda i istaknut značaj upravljanja ovim troškovima u fazi razvoja proizvoda. Životni ciklus proizvoda definisan je fazama razvoja, proizvodnje, upotrebe i reciklaže, sa odgovarajućim aktivnostima, kao uzročnicima troškova. Za ovako definisani životni ciklus razvijen je hibridni model upravljanja troškovima životnog ciklusa u fazi razvoja proizvoda. Procena troškova životnog ciklusa novog proizvoda u ovom modelu vrši se primenom fazi neuronskih mreža, dok se upravljanje troškovima vrši razvojem konstrukcije u fazi konceptualnog i preliminarnog razvoja dizajna novog proizvoda i usvajanjem procesa proizvodnje koja obezbeđuje ciljne troškove i konkurentnost proizvoda na tržištu u pogledu troškova upotrebe i pogodnosti za reciklažu.In the context of this thesis, a detailed analysis of the developed models for assessing and managing the life cycle costs of products and highlighted the importance of managing these costs in the product development phase. The life cycle of a product is defined stages of development, production, use and recycling, with appropriate activities as cost drivers. For such a defined life cycle model developed hybrid life cycle cost management in the product development phase. Assessment of life cycle costs of a new product in this model is made with fuzzy neural network, while managing costs is performed at the stage of construction, development of conceptual and preliminary design development of new products and the adoption of production processes that ensures the target costs and the competitiveness of products in the market in terms of cost and use facilities for recycling

Post-socialist transition of authority in the Balkans - the case of two capitals: Belgrade and Sofia in the 1990s

Циљ ове дисертације је анализирање и објашњавање процеса транзиције власти у Београду и Софији у последњој деценији 20. века. У средишту овог истраживања су процеси политичких, економских, друштвених и урбаних промена током развоја вишепартијског система и тржишних односа. У овим престоницама почетком деведесетих година развија се парламентарни систем на локалном нивоу, успоставља се принцип смене власти, а партијске борбе обележене су и сукобима идеолошких парадигми и наметањем нове културе сећања. Економска транзиција Београда и Софије дешавала се у условима великих привредних државних криза, хиперинфлације и монетарних реформи. У оба главна града присутни су процеси власничке трансформације, обележени социјалним поделама и настанком нове елите, најчешће из редова номенклатуре. У урбаном развоју напушта се принцип централизованог планирања, а грађани постају власници имовине, односно државних и друштвених станова. Промене у Београду и Софији у последњој деценији 20. века представљају феномен „транзиционог моста“, између социјалистичке прошлости и пост-постсоцијалистичке садашњости 21. века, а који их је приближавао развојним моделима савремених капиталистичких градова у западноевропским земљама.The goal of this dissertation is to analyze and emphasize the process of authority transition in Belgrade and Sofia in the last decade of the 20th century. At the core of this research are processes of political, economic, social and urban changes during the development of a multi-party systems and developments of new market terms. At the start of the 1990s, in the two capital cities, the new parliamentary system was developed. From this end, principle of change of government at city level was established, political party turmoil were induced by conflicts of ideological paradigms and the imposition of a new culture of remembrance. The economic transitions in both, Belgrade and Sofia had taken place in the conditions of great economic state crises, hyperinflation and monetary reforms. Processes of ownership transformation had started in both cities, marked by social divisions together with the emergence of a new elite, most often coming from the ranks of the nomenclature. Furthermore, in regards to urban development plans the clear change was visible: principle of centralized planning was abandoned and residents had been granted the right to become owners of “ex-state” housing. The changes in two capitals Belgrade and Sofia, in the last decade of the 20th century represent the phenomenon of the "transitional bridge" between the socialist past and the post-post-socialist present of the future 21st century, which brought them closer to the developmental models of modern capitalist cities in Western European countries

Code Optimization for Strapdown Inertial Navigation System Algorithm

Inertial navigation systems are in common use for decades due to its advantages. Since INS outputs are usually used for inputs in different control algorithms (depending on applications), INS will induce certain errors and limitations. This chapter deals with optimization of the inertial navigation algorithm against limitations due to the accuracy and stability of signals from the sensors and constraints resulting from the integration step and processor speed used for embedded applications. Inertial navigation considered here is “strapdown” inertial navigation system (SINS) which assumes a fixed inertial measurement unit (IMU). In this chapter, fundamentals of strapdown inertial navigation will be presented as well as three different algorithms which will be analyzed in regard to numerical stability, time consumption and processor load criteria

SPONTANA REKANALIZACIJA TROMBA: NEOČEKIVANI NALAZ NA KORONARNOJ ANGIOGRAFIJI

Introduction: Spontaneous recanalized coronary thrombi (SRCT) are a rare condition characterized by multiple channels divided by thin septa, communicating with each other, proximally and distally, with the normal coronary lumen. Highresolution intracoronary imaging techniques such as intravascular ultrasound or optical coherence tomography (OCT) enable routine study of the coronary artery lumen and wall. Case report: A 73-year-old male presented to the intensive care unit due to the loss of consciousness and transient extreme bradycardia recorded on electrocardiogram. Coronary angiogram revealed contrast defect on the right coronary artery (RCA). For better assessment of the angiographic fi nding, OCT was performed and confi rmed a honeycomb-like structure starting from medial RCA and propagating up to the distal part. As a result of the data acquired, the diagnosis of SRCT in the RCA was established. It was decided not to treat the RCA with stent implantation, and it was proceeded with optimal medicament therapy and pacemaker implantation. At three-month follow up, the patient reported no subjective symptoms and SPECT showed no signs of ischemia. Conclusion: While there are no appropriate recommendations for the treatment of SRCT yet, decision on treatment is based on imaging techniques fi ndings and physician’s experience. Adequate follow up of these patients can provide important data needed for future guiding of the SRCT treatment.Uvod: Spontana rekanalizacija koronarnih tromba (SRKT) rijetko je stanje i karakteriziraju ga višestruki kanali podijeljeni tankim pregradama, koji međusobno komuniciraju, proksimalno i distalno, s normalnim lumenom koronarne krvne žile. Intrakoronarne slikovne tehnike visoke rezolucije poput intravaskularnog ultrazvuka ili optičke koherentne tomografi je (OCT) omogućavaju rutinsko proučavanje lumena i zida koronarne arterije. Prikaz bolesnika: 73-godišnji muškarac primljen je u jedinicu intenzivne njege zbog gubitka svijesti i prolazne ekstremne bradikardije registririrane na elektrokardiogramu. Koronarni angiogram otkrio je kontrastni defekt na desnoj koronarnoj arteriji (RCA). Radi bolje procjene angiografskog nalaza provedena je OCT i potvrđena struktura nalik na saće, počevši od medijalnog segmenta RCA i šireći se do distalnog dijela. Kao rezultat prikupljenih podataka postavljena je dijagnoza SRKT u RCA. Odlučeno je da se RCA ne liječi implantacijom stenta, nego se nastavilo s optimalnom terapijom lijekovima i implantacijom elektrostimulatora srca. Nakon tri mjeseca praćenja bolesnik nije prijavio nikakve subjektivne simptome, a SPECT nije pokazivao znakove ishemije. Zaključak: Iako još uvijek ne postoje odgovarajuće preporuke za liječenje SRKT-a, odluka o liječenju temelji se na nalazima slikovnih tehnika i iskustvu liječnika. Odgovarajuće praćenje ovih bolesnika može pružiti važne podatke potrebne za buduće smjernice u liječenju SRKT-a

A grey fuzzy approach to the selection of cutting process from the aspect of technological parameters

This study deals with the selection of the cutting process using the grey fuzzy relation approach. The analysis was performed using plasma arc machining, laser beam machining, and abrasive waterjet machining on three different workpiece thicknesses with different cutting speeds. The objective was to select the best cutting process considering several performance characteristics such as machining time, dimensional accuracy, kerf width, and surface roughness. Data normalization, grey relation coefficients, fuzzy inference system, and grey fuzzy relation grade are used to evaluate the machining performances of the machining processes. The developed fuzzy model can be used to study the effects of different cutting processes on technological features. The results show that the grey fuzzy technique can be effectively used for the analysis and selection of cutting processes.Web of Science1224art. no. 1258

Hybrid model of product lifecycle cost management

U okviru predmetne disertacije izvršena je detaljna analiza razvijenih modela za procenu i upravljanje troškovima životnog ciklusa proizvoda i istaknut značaj upravljanja ovim troškovima u fazi razvoja proizvoda. Životni ciklus proizvoda definisan je fazama razvoja, proizvodnje, upotrebe i reciklaže, sa odgovarajućim aktivnostima, kao uzročnicima troškova. Za ovako definisani životni ciklus razvijen je hibridni model upravljanja troškovima životnog ciklusa u fazi razvoja proizvoda. Procena troškova životnog ciklusa novog proizvoda u ovom modelu vrši se primenom fazi neuronskih mreža, dok se upravljanje troškovima vrši razvojem konstrukcije u fazi konceptualnog i preliminarnog razvoja dizajna novog proizvoda i usvajanjem procesa proizvodnje koja obezbeđuje ciljne troškove i konkurentnost proizvoda na tržištu u pogledu troškova upotrebe i pogodnosti za reciklažu.In the context of this thesis, a detailed analysis of the developed models for assessing and managing the life cycle costs of products and highlighted the importance of managing these costs in the product development phase. The life cycle of a product is defined stages of development, production, use and recycling, with appropriate activities as cost drivers. For such a defined life cycle model developed hybrid life cycle cost management in the product development phase. Assessment of life cycle costs of a new product in this model is made with fuzzy neural network, while managing costs is performed at the stage of construction, development of conceptual and preliminary design development of new products and the adoption of production processes that ensures the target costs and the competitiveness of products in the market in terms of cost and use facilities for recycling

Hardware in the loop simulation for homing missiles

In this paper, we present a new method of testing the guidance, navigation and control (GNC) system of missiles with homing guidance based on image processing homing head. Testing of the GNC system of the homing missile is usually carried out on a five axis or three axis motion simulator in the hardware in the loop (HWIL) environment. HWIL testing on a five axis motion simulator is applicable to all guidance systems regardless of the type of detector used in the homing head, but equipping the laboratory is at least two times more expensive compared to the new method of testing presented here. The goal of this paper is to present a relatively cheap, simple and effective way of testing the guidance systems in cases when the type of detector used in the homing head is either television (TV) or Infra-Red (IR) camera, more precisely when image processing homing heads are used

ECONOMIC INSTRUMENTS IN WASTE MANAGEMENT IN THE RURAL REGIONS IN SOUTH EEAST EUROPE

The main aim of this paper is to analyze the problems of waste management in the rural regions in the Southeast Europe and to identify the economic instruments for their solving. It is concluded that waste production in those countires have been increased approching to average level realised in the EU, as well there are no collection and waste treatmant in the rural regions. A set of the economic instruments for the solving those problems are sugested. In their base is the polluted pays principle. It supposes the cost recovering principle,that is , above all, to set up the public utility services and the cost recovery in the rural regions by themselfs. In this paper are also indetifed the sources for the fnancing investments in those activitis and confrm necesity for completing environmental law regulations