Rubberized cord thickness measurement based on laser triangulation, Part II: Validation

U radu su prezentirana osnovna varijantna rešenja mernih stanica za merenje debljine gumiranog korda primenom senzora sa laserskom triangulacijom. Razmatrane su dve osnovne varijante - varijanta jednostranog mernja i varijanta dvostranog merenja senzorskim parom u diferencijalnoj konfiguraciji. Navedena je osnovna konfiguracija sistema za merenje debljine gumiranog korda na četvorovaljaačnim S kalandrima. Rezultati praktične implementacije su prikazani kroz dva prototipska sistema koji su instalirani i testirani na realnim kalandarskim linijama i nalaze se u redovonoj eksploataciji. Laserski sistem sa PSD foto detektorom pokazao je određene slabosti, ali su one uspešno kompenzovane razvijenom metodom za izračunavanje efektivne debljine primenom statističke karakterizacije površi gumiranog korda. Prototipski sistem baziran na CCD digitalnom fotodetektoru pokazao je odlične performanse u realnim uslovima i mogućnost potpunog skeniranja teksture gumiranog korda bez izgubljenih podataka. Ipak, nedostatak ovog sistema je u tome što se skenira samo jedna površina gumiranog korda, čime se gube korisne informacije koje se mogu upotrebiti u identifikaciji stanja procesa kalandriranja u realnom vremenu. Ovaj problem se može otkloniti primenom dvostranog merenja, ali je prethodno neophodno razrešiti određene teškoće, što je predmet daljih istraživanja.Steel and textile cord coating is one of the key rubber processing technologies in tire making industry. Specifications are very demanding. In particular, thickness variation across the sheet profile and downstream is very difficult to fulfill. For in-process thickness measurement the most common are systems based on non-contact beta or gamma radiation sensors. Regardless of their wide use, non-contact radiation sensors possess serious drawbacks: they are measuring thickness in indirect way only, they are highly sensitive to variations of material properties, and probably the most critical one, they are potentially dangerous for both personnel and environment. Recent advances in optoelectronics have founded new alternative method for non-contact thickness measurement based on laser triangulation. Extremely delicate optical properties of fresh calendered rubber and severe environmental conditions create serious problems in implementation of this technology. This two-part paper presents a general conceptual framework for in-process laser-based thickness measurement, and proposes a new method for processing acquired sensory data based on statistical surface characterization. Proposed method is experimentally verified, and based on these results the new measuring systems are developed and implemented in industry

Outline of a new feature space deformation approach in fuzzy pattern recognition

Sposobnost prepoznavanja oblika je jedno od najznačajnijih svojstava koja karakterišu inteligentno ponašanje bioloških ili veštačkih sistema. Matematičko prepoznavanje oblika predstavlja formalnu osnovu za rešavanje ovog zadatka primenom precizno forumulisanih algoritama, koji su u najvećem delu bazirni na konvencionalnoj matematici. Kod kompleksnih sistema ovakav pristup pokazuje značajne nedostatke, prvenstveno zbog zahteva za obimnim izračunavanjima i nedovoljne robusnosti. Algoritmi koji su bazirani na 'soft computing' metodama predstavljaju dobru alternativu, otvarajući prostor za razvoj efikasnih algoritama za primenu u realnom vremenu, polazeći od činjenice da značenje sadržaja informacija nosi veću vrednost u odnosu na preciznost. U ovom radu izlaže se modifikacija i proširenje 'Subrtactive Clustering' metode, koja se pokazala efikasnom u obradi masivnih skupova oblika u realnom vremenu. Novi pristup koji je baziran prvenstveno na povezivanju parametara algoritma sa informacionim sadržajem prisutnim u skupu oblika koji se obrađuje, daje dodatne stepene slobode i omogućava da proces prepoznavanja bude vođen podacima koji se obrađuju. Predloženi algoritam je verifikovan velikim brojem simulacionih eksperimenata, od kojih su neki navedeni u ovom radu.Pattern recognition ability is one of the most important features that characterize intelligent behavior of either biological or artificial systems. Mathematical pattern recognition is the way to solve this problem using transparent algorithms that are mostly based on conventional mathematics. In complex systems it shows inadequacy, primary due to the needs for extensive computation and insufficient robustness. Algorithms based on soft computing approach offer a good alternative, giving a room to design effective tools for real-time application, having in mind that relevance (significance) prevails precision in complex systems. In this article is modified and extended subtractive clustering method, which is proven to be effective in real-time applications, when massive pattern sets is processed. The new understanding and new relations that connect parameters of the algorithm with the information underlying the pattern set are established, giving on this way the algorithm ability to be data driven to the maximum extent. Proposed algorithm is verified by a number of experiments and few of them are presented in this article

Rubberized cord thickness measurement based on laser triangulation, Part I: Technology

U radu je prezentiran konceptualni okvir tehnologije merenja ekvivalnentne debljine gumiranog korda primenom optičke triangulacije. Detaljno je izložen analitički model laserskog proksimetra i razmatrani su osnovni problemi vezani za funkcionisanje i primenu laserske triangulacije u merenju distance objekata sa izrazito tekstuiranom površinom koja poseduje neuniformna optička svojstva. Predložena je nova metoda koja omogućava robusnu i visokopreciznu estimaciju efektivne debljine gumiranog korda. Ova metoda je bazirana na struktuiranju površi na tri sloja i statističkoj karaketerizaciji ovih slojeva. Pokazano je da tekstura gumiranog korda odgovara klasi Gausovih površi, na osnovu čega je moguće precizno i vrlo robusno izračunavanje ekvivalnetne debljine samo na osnovu estimiranih parametara normalne raspodele skeniranog uzorka površi. Laboratorijski eksperimenti su potvrdili praktičnu upotrebljivost ove metode i stvorile realne osnove za razvoj nove tehnologije mernih sistema koji će moći da zamene konvencionalna rešenja bazirna na senzorima sa prirodnim ili veštačkim švorima radioaktivnog zračenja.Steel and textile cord coating is one of the key rubber processing technologies in tire making industry. Specifications are very demanding. In particular, thickness variation across the sheet profile and downstream is very difficult to fulfill. For in-process thickness measurement the most common are systems based on non-contact beta or gamma radiation sensors. Regardless of their wide use, non-contact radiation sensors possess serious drawbacks: they are measuring thickness in indirect way only, they are highly sensitive to variations of material properties, and probably the most critical one, they are potentially dangerous for both personnel and environment. Recent advances in optoelectronics have founded new alternative method for non-contact thickness measurement based on laser triangulation. Extremely delicate optical properties of fresh calendered rubber and severe environmental conditions create serious problems in implementation of this technology. This two-part paper presents a general conceptual framework for in-process laser-based thickness measurement, and proposes a new method for processing acquired sensory data based on statistical surface characterization. Proposed method is experimentally verified, and based on these results the new measuring systems are developed and implemented in industry

Outline of a new feature space deformation approach in fuzzy pattern recognition

Sposobnost prepoznavanja oblika je jedno od najznačajnijih svojstava koja karakterišu inteligentno ponašanje bioloških ili veštačkih sistema. Matematičko prepoznavanje oblika predstavlja formalnu osnovu za rešavanje ovog zadatka primenom precizno forumulisanih algoritama, koji su u najvećem delu bazirni na konvencionalnoj matematici. Kod kompleksnih sistema ovakav pristup pokazuje značajne nedostatke, prvenstveno zbog zahteva za obimnim izračunavanjima i nedovoljne robusnosti. Algoritmi koji su bazirani na 'soft computing' metodama predstavljaju dobru alternativu, otvarajući prostor za razvoj efikasnih algoritama za primenu u realnom vremenu, polazeći od činjenice da značenje sadržaja informacija nosi veću vrednost u odnosu na preciznost. U ovom radu izlaže se modifikacija i proširenje 'Subrtactive Clustering' metode, koja se pokazala efikasnom u obradi masivnih skupova oblika u realnom vremenu. Novi pristup koji je baziran prvenstveno na povezivanju parametara algoritma sa informacionim sadržajem prisutnim u skupu oblika koji se obrađuje, daje dodatne stepene slobode i omogućava da proces prepoznavanja bude vođen podacima koji se obrađuju. Predloženi algoritam je verifikovan velikim brojem simulacionih eksperimenata, od kojih su neki navedeni u ovom radu.Pattern recognition ability is one of the most important features that characterize intelligent behavior of either biological or artificial systems. Mathematical pattern recognition is the way to solve this problem using transparent algorithms that are mostly based on conventional mathematics. In complex systems it shows inadequacy, primary due to the needs for extensive computation and insufficient robustness. Algorithms based on soft computing approach offer a good alternative, giving a room to design effective tools for real-time application, having in mind that relevance (significance) prevails precision in complex systems. In this article is modified and extended subtractive clustering method, which is proven to be effective in real-time applications, when massive pattern sets is processed. The new understanding and new relations that connect parameters of the algorithm with the information underlying the pattern set are established, giving on this way the algorithm ability to be data driven to the maximum extent. Proposed algorithm is verified by a number of experiments and few of them are presented in this article

Industrialization: Quantitative framework, technological dimension and the future we cannot ignore

The paper presents some results of the research that has been systematically conducted over a long period at the Academy of Engineering Sciences of Serbia (AINS) in the area of modern industrial and especially manufacturing technologies, as well as interactions among engineering sciences, technology and the society. The issue of industrialization is closely connected with this research and it is in this context that fresh insights are offered into industrial development, ones that are essentially different from the prevailing stereotypes that have for years been dominant in the management of the economic system in Serbia. Following the introductory chapter that gives a short review of the genesis of Serbian industry, the author offers a view of the industrial system through three chapters: 1) Industrial system of Serbia - Quantification, problems and implications; 2) Restoration and recovery framework - Industrial policies and strategic framework for fast and sustainable exiting the crisis condition; and 3) New industry of Serbia - Serbian industry transformation in the context of European integration processes, the future context (factories of the future), challenges and needs, where special attention is paid to the analysis of the problem of science pragmatization and its active part in the process of industrialization in the framework of the vertical and horizontal technology transfer, as part of the European integrations of Serbia

Rubberized cord thickness measurement based on laser triangulation, Part II: Validation

U radu su prezentirana osnovna varijantna rešenja mernih stanica za merenje debljine gumiranog korda primenom senzora sa laserskom triangulacijom. Razmatrane su dve osnovne varijante - varijanta jednostranog mernja i varijanta dvostranog merenja senzorskim parom u diferencijalnoj konfiguraciji. Navedena je osnovna konfiguracija sistema za merenje debljine gumiranog korda na četvorovaljaačnim S kalandrima. Rezultati praktične implementacije su prikazani kroz dva prototipska sistema koji su instalirani i testirani na realnim kalandarskim linijama i nalaze se u redovonoj eksploataciji. Laserski sistem sa PSD foto detektorom pokazao je određene slabosti, ali su one uspešno kompenzovane razvijenom metodom za izračunavanje efektivne debljine primenom statističke karakterizacije površi gumiranog korda. Prototipski sistem baziran na CCD digitalnom fotodetektoru pokazao je odlične performanse u realnim uslovima i mogućnost potpunog skeniranja teksture gumiranog korda bez izgubljenih podataka. Ipak, nedostatak ovog sistema je u tome što se skenira samo jedna površina gumiranog korda, čime se gube korisne informacije koje se mogu upotrebiti u identifikaciji stanja procesa kalandriranja u realnom vremenu. Ovaj problem se može otkloniti primenom dvostranog merenja, ali je prethodno neophodno razrešiti određene teškoće, što je predmet daljih istraživanja.Steel and textile cord coating is one of the key rubber processing technologies in tire making industry. Specifications are very demanding. In particular, thickness variation across the sheet profile and downstream is very difficult to fulfill. For in-process thickness measurement the most common are systems based on non-contact beta or gamma radiation sensors. Regardless of their wide use, non-contact radiation sensors possess serious drawbacks: they are measuring thickness in indirect way only, they are highly sensitive to variations of material properties, and probably the most critical one, they are potentially dangerous for both personnel and environment. Recent advances in optoelectronics have founded new alternative method for non-contact thickness measurement based on laser triangulation. Extremely delicate optical properties of fresh calendered rubber and severe environmental conditions create serious problems in implementation of this technology. This two-part paper presents a general conceptual framework for in-process laser-based thickness measurement, and proposes a new method for processing acquired sensory data based on statistical surface characterization. Proposed method is experimentally verified, and based on these results the new measuring systems are developed and implemented in industry

Rubberized cord thickness measurement based on laser triangulation, Part I: Technology

U radu je prezentiran konceptualni okvir tehnologije merenja ekvivalnentne debljine gumiranog korda primenom optičke triangulacije. Detaljno je izložen analitički model laserskog proksimetra i razmatrani su osnovni problemi vezani za funkcionisanje i primenu laserske triangulacije u merenju distance objekata sa izrazito tekstuiranom površinom koja poseduje neuniformna optička svojstva. Predložena je nova metoda koja omogućava robusnu i visokopreciznu estimaciju efektivne debljine gumiranog korda. Ova metoda je bazirana na struktuiranju površi na tri sloja i statističkoj karaketerizaciji ovih slojeva. Pokazano je da tekstura gumiranog korda odgovara klasi Gausovih površi, na osnovu čega je moguće precizno i vrlo robusno izračunavanje ekvivalnetne debljine samo na osnovu estimiranih parametara normalne raspodele skeniranog uzorka površi. Laboratorijski eksperimenti su potvrdili praktičnu upotrebljivost ove metode i stvorile realne osnove za razvoj nove tehnologije mernih sistema koji će moći da zamene konvencionalna rešenja bazirna na senzorima sa prirodnim ili veštačkim švorima radioaktivnog zračenja.Steel and textile cord coating is one of the key rubber processing technologies in tire making industry. Specifications are very demanding. In particular, thickness variation across the sheet profile and downstream is very difficult to fulfill. For in-process thickness measurement the most common are systems based on non-contact beta or gamma radiation sensors. Regardless of their wide use, non-contact radiation sensors possess serious drawbacks: they are measuring thickness in indirect way only, they are highly sensitive to variations of material properties, and probably the most critical one, they are potentially dangerous for both personnel and environment. Recent advances in optoelectronics have founded new alternative method for non-contact thickness measurement based on laser triangulation. Extremely delicate optical properties of fresh calendered rubber and severe environmental conditions create serious problems in implementation of this technology. This two-part paper presents a general conceptual framework for in-process laser-based thickness measurement, and proposes a new method for processing acquired sensory data based on statistical surface characterization. Proposed method is experimentally verified, and based on these results the new measuring systems are developed and implemented in industry

Configuration-based compliance control of kinematically redundant robot arm Part II: Experimental validation

U okviru ovog rada koji se sastoji iz dva dela, prikazuje se novi pristup upravljanja popustljivošću vrha robota, odnosno elastomehaničkom interakcijom vrha robota i njegovog okruženja, primenom kinematske redundanse umesto aktuacione. U prvom delu ovaj pristup je prikazan kroz koncipiranje metode upravljanja krutošću promenom konfiguracije - Configuration-based Stiffness Control (CSC), za slučaj kinetosatičke konzistentnosti, primenom projekcije gradijenta optimizacione funkcije koja minimizira Euklidovu normu nedijagonalnih elemenata matrice krutosti robota izražene u unutrašnjim koordinatama. U drugom delu predložena metoda upravljanja popustljivošću je testirana simulacionim eksperimentima, koristeći kao simulacionu platformu dva posebna slučaja najjednostavnijih kinematski redundantnih robotskih ruku: Slučaj 1 - eksperimenti sa jednodimenzionim radnim prostorom (m = 1) i minimalno mogućom redundansom, r = (n - m) = 1, i Slučaj 2 - eksperimenti sa jednodimenzionim radnim prostorom (m = 1) i minimalno mogućom hiperredundansom, r = 2 i r > m. U oba slučaja singulariteti i ograničenja u opsezima pokretljivosti zglobova nisu razmatrani.This two-part paper presents an approach to the control of robot endpoint compliance, i.e., elasto-mechanical interaction between a robot and its environment using kinematic redundancy instead of actuation redundancy. In Part I this approach is developed by proposing the Configuration-based Stiffness Control (CSC) method for kinetostatically consistent control of robot compliant behaviour, based on the gradient projection of the cost function which minimizes the norm of off-diagonal elements of the jointspace matrix. In Part II validity of the proposed compliance control method is tested by simulation experiments using as a simulation platform two specific cases of most simple kinematically redundant robot arms: Case 1 - experiments with onedimensional taskspace (m=1) and minimal possible redundancy, r = (n - m) = 1, and Case 2 - experiments with onedimensional taskspace (m=1) and minimal possible hyper-redundancy, r = 2 and r > m. In both cases the singularity and joint limits were not considered

CORPORATE EFFECTS OF THE DANOSA CASE: IS THE TERMINATION OF MEMBERSHIP OF THE BOARD OF DIRECTORS ALLOWED IN THE CASE OF A PREGNANT BOARD MEMBER?

The Court of Justice of the European Union (Second Chamber) on 11 November 2010 pronounced a judgment in the proceedings between Ms Dita Danosa and LKB Lizings SIA, a limited liability company, concerning the decision of the LKB general meeting of shareholders to remove Ms Danosa from her post as a member of the company’s board of directors during her pregnancy. The Court’s ruling could have signifi cant repercussions on the appointment to and termination of the membership of boards of directors of capital companies in Europe. The authors analyse the corporate effects of the judgment in various countries from the point of view of the principles of company law and emphasise the difference in the contractual and corporate relationships which exist between a company and members of the board of directors. When analysing the ruling of the Court, the authors also point out the differences between public limited companies (both dual and single-board systems) and limited liability companies in terms of the position of members of the board of directors with regard to the termination of membership of the board

Configuration-based compliance control of kinematically redundant robot arm Part I: Theoretical framework

Kada je popustljivost vrha robota dominantno određena popustljivošću njegovih zglobova, generalizovana matrica krutosti robota može se preslikati iz prostora radnog zadatka u prostor unutrašnjih koordinata robota primenom kongruentne transformacije. Generisana na ovaj način, matrica krutosti u unutrašnjim koordinatama je u opštem slučaju nedijagonalna. Nedijagonalni elementi se mogu generisati samo redundantnom aktuacijom (poliartikulacioni aktuatori). Mada je ova vrsta aktuatora široko rasprostranjena kod bioloških sistema, njena praktična primena kod robota i sličnih veštačkih sistema je ekstremno problematična. Da bi se prevazišao ovaj problem, predlaže se rešenje bazirano na kinematskoj redundansi. U okviru ovog rada koji se sastoji iz dva dela, prikazuje se novi pristup upravljanja popustljivošću vrha robota, odnosno elastomehaničkom interakcijom vrha robota i njegovog okruženja, primenom kinematske redundanse umesto aktuacione. U prvom delu ovaj pristup je prikazan kroz koncipiranje metode upravljanja krutošću promenom konfiguracije (CSC) za slučaj kinetosatičke konzistentnosti, primenom projekcije gradijenta optimizacione funkcije koja minimizira Euklidovu normu nedijagonalnih elemenata matrice krutosti robota izražene u unutrašnjim koordinatama.When the robot endpoint compliance is dominantly influenced by the flexibility of its joints, the robot taskspace generalized stiffness matrix can be mapped onto jointspace using appropriate congruence transformation. Thus produced, the jointspace stiffness matrix is generally nondiagonal. Off-diagonal elements can be generated by redundant actuation only (polyarticular actuators). Although this kind of actuation is widely present in biological systems, its practical implementation in engineering systems is very difficult. To overcome this problem, use of kinematic redundancy is proposed. This two-part paper presents an approach to the control of robot endpoint compliance, i.e., elasto-mechanical interaction between a robot and its environment using kinematic redundancy instead of actuation redundancy. In Part I this approach is developed by proposing the Configuration-based Stiffness Control (CSC) method for kinetostatically consistent control of robot compliant behaviour, based on the gradient projection of the cost function which minimizes the norm of off-diagonal elements of the jointspace matrix