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

Liturgical-historical analysis of cults of Serbian Saints in the Metropolitanate of Karlovci in 18th century

Култ сваког светитеља чини његова литургијска основа која је дубоко прожета и обележена конкретним историјским околностима у различитим епохама. Стога светитељски култ представља сложен феномен чија анализа не само да захтева истраживање и рашчитавање богослужбених књига, него подразумева и директан увид у црквено-политичку стварност у којој култ настаје и развија се. Изучавање култова српских светитеља на територији Карловачке митрополије почиње анализом историјских и богослужбених околности које су везане за Велику сеобу 1690. године. Ти догађаји пресудно су утицали на популаризацију култова, њихову ревитализацију и њихово постављање у нову богослужбену и идентитетску позицију. Литургијско празновање Срба светитеља и њихова историјска улога ће у новонасталим околностима бити предмет интересовања не само римокатоличких историчара и конфесионалних полемичара, него и националне историографије XVIII столећа где ће, зависно од позиције аутора, бити приказан значај српских светих. У општем контексту епохе врло важну улогу заузима и друштвено-политичка рецепција светитељских култова, где су култови препознати не само као носиоци славне прошлости него и као нови стубови око којих ће се формирати верско и политичко саморазумевање нашег народа, али и његово препознавање од стране Хабзбуршког двора. Управљање култовима националних светитеља Двор је видео као важан део државничког програма. Контролом култа контролисао се идентитетски простор који је потенцијално угрожавао хабзбуршки концепт империје као наднационалног царства. Самим тим, култови српских светих представљали су препреку за идентитетску асимилацију Срба у Хабзбуршкој монархији. Присуство моштију српских светитеља на блиском простору, најпре у Сентандреји а потом и на Фрушкој Гори, формирало је нову сакралну топографију која је потом утицајно обликовала и јеротопију манастирских храмова и утицала на ново разумевање богослужбеног простора. Поред већ потврђених култова српских светитеља, анализирана су и два локална култа, култ Светог Рафаила Банатског Хиландарца и култ патријарха Арсенија III Чарнојевића. С обзиром на то да су досадашњи истраживачки резултати указали на тезу о могућој канонизацији патријарха Арсенија 1721. године, ово питање је још једном детаљно размотрено у светлу сачуваних извора и постојеће литературе, да би се дошло дошло до одговора који се могу проверити чињеницама. Поред бурних историјских дешавања, прва половина XVIII столећа обележена је и умножавањем помена српских светитеља у богослужбеним књигама. Стога смо анализирали и међусобно упоредили малобројне литургичке изворе из тог периода, придружујући им важне дисциплинарне одредбе и државна и црквена указања која се тичу правилног разумевања и светковања празника. За разлику од Цркве, Хабзбуршка монархија је празнике посматрала искључиво у распореду радних и нерадних дана. Сматрала их је саставним делом програма своје конфесионалне политике, те је на томе темељила своје право да интервенише по питању њиховог броја и статуса током друге половине XVIII века. Празници српских светих заузимали су истакнуто место у верско-националном програму нашег народа, те су самим тим били предмет државних реформи које су својим исходима обликовале садржај православног месецослова. Њихово присуство у месецословима разматрано је у више државних одлука, што је напослетку утицало и на промену њиховог празничног статуса. Све промене у статусу и разумевању празника приказане су кроз анализу спроведену у раду. 2 За празнике српских светих у XVIII столећу везује се и појава Опште стихире српским светитељима митрополита Јована Георгијевића, али и питање појаве заједничког празника Сабора српских светитеља. С потоњим је у вези и питање заветног или провинцијалног прослављања ових светих. Све ове теме у појединачном сагледавању и међусобном пресеку дају сложену слику међусобних односа Карловачке митрополије и државничког програма Хабзбуршке монархије. Централну тему везану за култове српских светих у XVIII столећу чини појава првог штампаног србљака под насловом 1761. године. Да би се анализирао феномен србљака, његов настанак и развој, истражен је шири богослужбени контекст празника српских светитеља и њихова присутност и позиционирање у литургијској години према рукописним и старим штампаним богослужбеним књигама. Настанак и уобличавање србљака као посебног богослужбеног зборника најпре су приказани кроз анализу појединачних рукописа од XV до XVIII века. Њиховим међусобним поређењем сагледан је и описан је феномен рукописних србљака, реконструисан је њихов континуитет и приказан њихов садржај. Поређење рукописних србљака и штампаних издања XVIII столећа подразумевало је и разматрање евентуалних рукописних предложака или узора на основу којих је настао први штампани србљак. Релевантност наших истраживања огледа се у целовитијем изучавању и анализирању сложених богословско-историјских околности које су на непосредан начин уобличавале прослављања српских светитеља у XVIII веку.The cult of every saint is consisted by his liturgical basic that is deeply rooted and marked with concrete historical circumstances in different epoch. Consequently, the Saints cult represents a complex phenomenon whose analysis demands not just a research and rereading of liturgical books but also implies direct insight in church-political reality where cult originates and develops from. Researching cults of Serbian Saints on the teritory of Metropolitanate of Karlovci begins with the analysis of historical and liturgical circumstances that are connected with The Great Migration 1690. These events are crucial for popularisation of the cults, their revitalisation and their placement in new liturgical and identity position. Liturgical celebration of Serbian Saints and their historical role in newly-formed circumstances will be the area of interest not only for Roman Catholic historians and confessional polemists, but also for national historiography of the 18th century. There lies, regarding the author's position, the importance of Serbian Saints. In general context of epoch a very important role is taken social-political reception of Saint cults where cults are recognized not just as bearers of the glory past, but also a new pillars around which would be formed religious and political self -understanding of our nation and its recognition by the Habsburg court. The court saw managing the cults of national saints as a significant part of the state program. Controling the cult meant that was controlled the identity space that was potentially threatening the Habsburg concept of realm as overnational empire. The cults of Serbian Saints represented the obstacle for identity assimilation of Serbs in Habsburg monarchy. Presence of the Holy relics of the Serbian Saints in close territory, first in Szentendre and then Fruska Gora, formed a new sacral topography that later shaped hirotopic of the monastery temples and influenced new understanding of liturgical space. Apart from already confirmed cults of Serbian Saints we also analysed two local cults, the cult of Saint Rafail of Banat and the cult of patriarch Arsenije III Carnojevic. Considering that the results of the conducted research so far indicated the thesis of possible canonization of patriarch Arsenije 1721, this question was once again considered in light of the preserved sources and existing literature so that we could find answers that could he verified with facts. Apart from the tumultuous historical events the first half of the 18th century was marked with multiplication feast of Serbian Saints of liturgical books. We also researched and mutually compared a few liturgical sources from that period joining them important disciplinary regulations and state and ecclesiastical laws that are regarded of correct understanding and celebrating feast days. Unlike Church, Habsburg Monarchy observed feast days entirely in the schedule of work days and holidays. Monarchy considered them a constituent part of the program of their confessional politics on which they grounded its right to intervene regarding their number and status during second part of 18th century. Feasts of Serbian Saints occupied prominent place in religiously-national program of our people and they were a part of national reforms which, with their outcomes, shaped content of liturgical calendar of the Orthodox Church. Their presence in the calendar was considered in more national resolutions that was after influenced on changing their festive status. All changes in the status and understanding of the feasts are presented in the results which are found in our work. Serbian Saints feasts in 18th century are linked with occurrence of General sticheron of Serbian Saint by metropolitan Jovan Georgijevic and also with a question of their testimonial or particular celebrating. All these subjects in individual consideration and mutual section gives a 4 complex picture of mutual relations between Metropolitanate of Karlovci and the national program of Habsburg Monarchy. The central theme dedicated to cults of Serbian Saints in 18th century appears in the first printed Srbljak with a title (Rules of prayer of Serbian Saints) in 1761. In order to analyse the phenomenon of Srbljak its occurrence and development, the following was researched wider liturgical context of the feasts of Serbian Saints and their presence and positioning in liturgical year according to manuscripts and old printed liturgical books. The occurrence and shaping of srbljaks as especial liturgical book wеre firstly presented through individual manuscript examples from 15th to 18th century. Through their comparison was perceived and was explored phenomenon of manuscripts srbljaks and was reconstructed their continuity and their content was shown. Comparing manuscripts of srbljaks and the printed editions of the 18th century were considered researching of eventual manuscripted templates or models which influenced the first printed Srbljak. The relevance of our research was based on more complete researched and the analysis of the complex liturgical-historical circumstances which, in a direct way, shaped celebrating Serbian Saints in 18th century

Compliant behaviour of redundant robot arm: Experiments with null-space

This paper presents theoretical and experimental aspects of Jacobian nullspace use in kinematically redundant robots for achieving kinetostatically consistent control of their compliant behavior. When the stiffness of the robot endpoint is dominantly influenced by the compliance of the robot joints, generalized stiffness matrix can be mapped into joint space using appropriate congruent transformation. Actuation stiffness matrix achieved by this transformation is generally nondiagonal. Off-diagonal elements of the actuation matrix can be generated by redundant actuation only (polyarticular actuators), but such kind of actuation is very difficult to realize practically in technical systems. The approach of solving this problem which is proposed in this paper is based on the use of kinematic redundancy and nullspace of the Jacobian matrix. Evaluation of the developed analytical model was done numerically by a minimal redundant robot with one redundant d.o.f. and experimentally by a 7 d.o.f. Yaskawa SIA 10F robot arm

Efficiency of ultrasonic Vertex III hypsometer compared to the most commonly used hypsometers in Croatian forestry

The article investigates the efficiency of the ultrasonic Vertex hypsometer in tree height measurements in relation to some of the most commonly used hypsometers in Croatian forestry. The whole measurement process consists of three steps: time needed to reach the measurement zone, time needed to determine the distance to a tree, and time needed to measure and read the height of a tree. Measurements were conducted with four hypsometers: Vertex, Blume-Leiss, Bitterlich\u27s Spiegel Relaskop with a standard scale (RO) and Bitterlich\u27s Spiegel Relaskop with a CP scale (with the horizontally /RCPH/ or vertically /RCPV/ positioned staff). Research results do not show any statistically important differences among the hypsometers in terms of time needed to reach the measurement zone. In measuring tree heights in a stricter sense (without the element of reaching the measurement zone), the least amount of time was required by the Vertex (28.4 cmin) on average. The Vertex is followed by the relaskop with a CP scale, the horizontally (57.4 cmin) or vertically positioned staff (86.1 cmin), then the Blume-Leiss (84.0 cmin) and finally the relaskop with a standard scale (106.8 cmin). The differences between the Vertex and other hypsometers are statistically significant. Despite a slightly higher price of the Vertex, its speed, precision, accuracy and simplicity of use, as well as the possibility of simple circular plot forest inventories rank it above all the other instruments

Tachinid (Diptera: Tachinidae) parasitoids of spotted ash looper (Abraxas pantaria) in Krka National Park in Croatia

Background and purpose: Spotted ash looper, Abraxas pantaria (Lepidoptera: Geometridae) causes defoliations of narrow-leaved ash (Fraxinus angustifolia) in Croatia, mainly in Krka National Park. Since controlling pests with insecticides is not possible in protected areas, biological pest control might be a valuable option. The first step in the study of its application is the research on hosts and their natural enemies. Not much is known about the parasitoid spectrum of A. pantaria in Croatia, so the aim of this research is to identify the parasitoid species which could influence the population density of this potential forest pest. Materials and methods: Pupae of A. pantaria were studied in 2010 at several locations along the River Krka in Krka National Park. This area was chosen because total defoliation of ash was observed in 2010. Results and conclusions: Five tachinid species were reared from Abraxas pantaria: Phryxe nemea, Bactromyia aurulenta, Senometopia sp., Pales pavida and Eurysthaea scutellaris. All species are generalist parasitoids. Phryxe nemea is the first record for this host

Outbreak of Orthotomicus erosus (Coleoptera, Curculionidae) on Aleppo Pine in the Mediterranean Region in Croatia

Background and Purpose: Orthotomicus erosus, Mediterranean pine engraver, is widely distributed across the Mediterranean and southern Europe, Asia and North Africa. It is considered as secondary pest found on recently dead or felled trees, but can also attack weakened living trees. In high population levels this species can attack healthy trees and cause their dieback. Severe outbreaks occur after dry periods, or after fire in adjoining stands in warmer parts of the Mediterranean region, while this scenario has never happened in Croatia up to now. Bark beetles are important forest pests which have already been researched and discussed in relation to climate change, indicating that the predicted increase in temperature would lead to higher survival rates and faster development, thus directly influencing their population dynamics. Increase in temperature may stimulate changes in insects’ rate of development, voltinism, population density, size, genetic composition, extent of host plant exploitation, longitudinal and latitudinal distribution. Since climate conditions might have changed in the last few years as predicted in the Mediterranean region, the aim of our research is to document the first outbreak with high population levels of O. erosus in Croatia. Materials and Methods: The extent of dieback was evaluated by counting trees with dieback symptoms on diagonal transects plotted through each of 33 forest management sections of Marjan Forest Park (Split). Trunk sections from several trees with early stage symptoms were collected for further laboratory analysis, which consisted of incubation phase and subsequent morphological identification. During regular yearly surveys in forests of Croatia, the pest was observed on several sites and damages were recorded for both years 2017 and 2018. The records were entered into a map using QGIS version 3.2.1-Bonn. Spatial data was downloaded from DIVA-GIS server. Monitoring efforts were initiated in affected areas where 13 flight barrier pheromone traps (Theyson®) equipped with pheromone lure Erosowit® (Witasek, Austria) were set-up in late March in state-owned and privately owned forests across Dalmatia. Catches in the traps were collected and O. erosus adults were counted on a weekly basis in order to identify the abundance of the pest in monitored sites, as well as to obtain the first information about population dynamics and to assess voltinism. Results: On-site survey and the evaluation of dieback extent included sampling of 5% of all trees in Marjan Forest Park ,and the results showed that 23% of all trees in the forest park were affected by dieback symptoms. Visual examination of trunks, branches and bark showed symptoms of bark beetle infestation, while preliminary on-site examination of the observed adults pointed out to O. erosus. After two weeks in controlled conditions, bark beetle adults started to emerge from trunk sections which were placed in several mesh cages for incubation. Morphological identification by using stereomicroscope and the key for European bark beetles resulted in identification of O. erosus species. Over the course of the year 2017 one more site was reported to be infested with O. erosus, and eight additional sites were reported over the course of year 2018. In total, 446 ha were reported as infested, varying in intensity, in several different management units of state-owned and privately owned forests. The total number of trapped beetles in pheromone traps varied largely among sites. Our data indicate that several generations (at least 5 generations per year) were present in the year 2018. Conclusions: Sudden surge in observed damages, as well as the number of beetles trapped during monitoring, in years 2017 and 2018 throughout Aleppo pine forests in Dalmatia are the first record of O. erosus outbreak in Croatia. O. erosus is native to Croatia and so far it has been considered only as a minor pest whose outbreaks have never been recorded. Drought intensity and frequency and aridification trends in the research area (Dalmatia, Croatia) cause cumulative stress to trees and have increased O. erosus occurrence. O. erosus is expected to exhibit increased voltinism, better overwintering performance and earlier spring flights. Our first results confirm this epidemic stage of O. erosus with high abundances in Dalmatia in 2018 and at least 5 generations per year, which alter the population level of this pest. Finally, with high dispersal abilities of O. erosus through active flight and easy transportation with infested material (logs and branches with bark), O. erosus has the potential to become an important forest pest in Croatia. Thus, extensive studies on its biology, ecology, natural enemies and interaction with ophiostomatoid fungal species are needed in order to predict further spread and suggest viable and effective management measures

Consumer attitudes to broiler meat and products

The aim of this paper was to select the most acceptable housing system of broiler meat production evaluating consumers attitudes and to investigate quality of raw type sausages made of chicken meat, applying quantitative descriptive sensory analysis. Based on the survey conducted among consumers of different sex, age and education, it was concluded that majority of consumers of both sexes finds that the price of broiler meat produced in free range production is justifiably higher because of the quality of meat provided. Meat should be labelled according to production system and quality of meat should be controlled by scientific institution according to the opinion of female consumers, whereas male consumers stated that meat quality should be controlled by producers and inspection. Compared sausages samples are made with different chicken meat type: A - commercial broiler, B - commercial broiler and Naked Neck chickens (50:50 ratios) and C - Naked Neck chicken. In all three variants of sausages 20% of pork fat was added. Sensory evaluation was done after roasting. System of 9 points was used for sausages quality attributes (parameters) scoring: 1-exceptionally unacceptable to 9-exceptionally acceptable. Following attributes were evaluated/scored: external appearance, cross-section appearance, colour, smell, taste and texture. Thirty untrained panellists participated in scoring. The appearance of all examined sausage was very good. The colour of group B and C were evaluated as acceptable, but not the usual for this sausage type. Sausages from group A had lighter colour than expected and assessed as too pale. Group B had the highest scores for smell and taste. As a result of conducted sensory analysis, sausages from variant B were selected as the best of compared samples, with overall scores of 7.87

Some parameters of dried pork produced with lower salt content

Production of meat products with lower salt/sodium content is the goal of today's meat industry because of bad influence of exceed sodium intake by food. In this paper are presented some physico-chemical parameters during processing of dried pork produced with lower salt content. Pork (m. longissimus dorsi) was cured with nitrite curing salt in amount of 3 kg/100 kg of meat. In meat were measured the weight loss during curing and drying; moisture content by standard method SRPS ISO 1442:1998, water activity using awmeter (Wert-Messer, Durotherm) at temperature of 25°C; and pH value by pH-meter (MA-5730; PAT N° 35398, Iskra) according to SRPS ISO 29 17:2004. Average moisture content in dried meat at the end of production was 40.10%. Average weight loss was 2.39% after 7 days of production (after curing) and it is increased up to the end of production, average 34.57%. Acidity of meat during curing, smoking and drying was similar; pH value was around 6.00. Water activity was gradually decreased from average 0.985 after curing (7th day) up to 0.899 at the end of production. During the storage of dried meat under vacuum conditions, pH value decreased from 5.43 in the final product up to 5.11 at the end of storage (120th day). These values are characteristic for curing, drying and fermentation of meat. Dried meat was shelf stable for 120 day under vacuum conditions, without signs of rancidity and without changes in other sensory attributes

Effects of age and time of day of sampling on proximate and fatty acid composition of whole eggs from two strains of laying hens

The aim of the present study was to determine the effects of breed (Naked Neck - NN - and Lohmann Brown - LB), age (46 to 49 weeks) and the time of day of sampling (morning eggs - M - and afternoon eggs A) on the proximate and fatty acid composition of whole eggs. Eggs of commercial hens (LB) had significantly (P (lt) 0.001) less fat, ash and protein and lower dry-matter content (more water content) compared to the autochthonous breed (NN). The NN eggs contained significantly (P (lt) 0.001) more SFA (saturated fatty acid) and less PUFA (polyunsaturated fatty acid) than LB ones, while the share of the eggs' total n-3 fatty acids did not differ significantly between breeds. The share of total MUFA (monounsaturated fatty acid) significantly (P = 0.011) decreased, while the share of total PUFA, n-6 and n-6 / n-3 ratio significantly increased (P (lt) 0.001; P (lt) 0.001; P = 0.032, respectively) with age of hens. Additionally, compared with morning eggs, afternoon eggs had a significantly (P = 0.046) higher share of total n-6 fatty acids. PCA (principal component analysis) offered a good separation of the samples according to breed and age when two first principal component were extracted. PC1 was positively related to parameters of proximate composition and SFA content, while PC2 was positively determined by PUFA, n-6 and n-3 content. Eggs of autochthonous hens (NN) were located in the positive area of PC1, whereas those from the commercial hens (LB) were in the negative quarter, which indicates opposite characteristics

Mikobiota i mikotoksini u sveže požnjevenom i uskladištenom zrnu kukuruza

The incidence of mycobiota and mycotoxin levels were investigated in the freshly harvested maize kernel samples from October 2014 and in the samples of stored maize kernels from February 2015. Toxigenic fungal species (moulds) were isolated, cultivated and identified on agar plates according to standard mycological methods, while mycotoxins were detected by enzymelinked immuno-sorbent assay (ELISA). Mycological analyses of kernels showed the presence of toxigenic species from genera Aspergillus, Fusarium and Penicillium. Among the Aspergillus species, Aspergillus flavus was identified with higher incidence in the stored kernels (10.25%), than in freshly harvested kernels (3.67%) whereas A. parasiticus was the predominant species in the freshly harvested kernels (4.17%) compared to the stored kernels (0%). From the genus Fusarium three species were identified: F. graminearum, F. subglutinans and F. verticillioides, with the incidence of 1.08%, 8% and 25.75%, respectively in freshly harvested kernels and the incidence of 2.50%, 7.10% and 29.75%, respectively in the stored kernels. Species from genus Penicillium had higher incidence in freshly harvested kernels (14.25%) than in the stored kernels (9%). In addition, tested samples of harvested and stored maize kernels were 100% positive with aflatoxin B1 (AFB1), deoxynivalenol (DON) and total fumonisins B1, B2 and B3 (FBs). The mean levels of AFB1, DON and FBs were 2.77 μg kg-1, 117.83 μg kg-1, and 3700.84 μg kg-1, respectively in the freshly harvested kernels and a mean levels of 2.16 μg kg-1, 2034.40 μg kg-1, and 5976.50 μg kg-1, respectively in the stored maize kernels. In the freshly harvested maize kernel samples, statistically significant (P ≤ 0.05) positive correlations of kernel moisture content with the incidence of Penicillium spp. (r = 0.47), and levels of AFB1 (r = 0.46) and FBs (r = 0.47), and between the incidence of Penicillium spp. and level of AFB1 (r = 0.53) were established. In the stored maize kernel samples, statistically significant (P ≤ 0.05) positive correlations were found between the incidence of F. subglutinans and level of FBs (r = 0.50) and between levels AFB1 and FBs (r = 0.52). A highly significant (P ≤ 0.01) positive correlation was established between the incidence of F. verticillioides and level of FBs (r = 0.64) in freshly harvested maize kernel samples. These results indicate that the incidence of toxigenic fungi and levels of mycotoxins, in particular DON and FBs, were higher in the stored maize kernel samples than in freshly harvested maize kernels. Therefore, to prevent the development of toxigenic fungi and mycotoxins accumulation in post-harvest period it is necessary to thoroughly dry maize and keep it in hygienic food storages.U radu je proučavana učestalost mikobiota i sadržaj mikotoksina u uzorcima zrna kukuruza sakupljenih tokom berbe u oktobru 2014. godine i u uzorcima uskladištenog zrna sakupljenih u februaru 2015. godine. Toksigene vrste gljiva (plesni) su izolovane, odgajene i identifikovane na hranljivoj podlozi prema standardnim mikološkim metodama, dok je sadržaj mikotoksina detektovan primenom imunoadsorpcione enzimske metode (ELISA). Mikološkim analizama zrna kukuruza ustanovljeno je prisustvo toksigenih vrsta iz rodova Aspergillus, Fusarium and Penicillium. Među Aspergillus vrstama, Aspergillus flavus je identifikovana u većem procentu u uzorcima uskladištenog zrna (10,25%) nego u uzorcima sveže požnjevenog zrna (3,67%), a A. parasiticus bila je predominantna vrsta (4,17%) u uzorcima sveže požnjevenog u odnosu na uskladišteno zrno kukuruza (0%). Tri vrste roda Fusarium su identifikovane sa učestalošću od 1,08% (F. graminearum), 8% (F. subglutinans) i 25,75% (F. verticillioides) u požnjevenom zrnu, i sa učestalošću od 2,50% (F. graminearum), 7,10% (F. subglutinans) i 29,75% (F. verticillioides) u uskladištenom zrnu kukuruza. Vrste iz roda Penicillium imale su veću učestalost u uzorcima požnjevenog (14,25%) nego u uzorcima uskladištenog zrna (9%). Ispitivani uzorci sveže požnjevenog i uskladištenog zrna bili su 100% pozitivni sa aflatoksinom B1 (AFB1), deoksinivalenolom (DON) i ukupnim fumonizinima FB1, FB2 i FB3 (FBs). Prosečne koncentracije ovih toksina su iznosile 2,77 μg kg-1 (AFB1), 117,83 μg kg-1 (DON) i 3700,84 μg kg-1 (FBs) u uzorcima sveže požnjevenog zrna i 2,16 μg kg-1 (AFB1), 2034,40 μg kg-1 (DON), i 5976,50 μg kg-1(FBs) u uzorcima uskladištenog zrna. Statistički značajne (P ≤ 0.05) pozitivne korelacije ustanovljene su između sadržaja vlage zrna sa učestalošću Penicillium spp. (r = 0,47) i koncentracijama AFB1 (r = 0,46) i FBs (r = 0,47), kao i između učestalosti Penicillium spp. i koncentracije AFB1 (r = 0,53). U uzorcima uskladištenog zrna, statistički značajne (P ≤ 0.05) pozitivne korelacije ustanovljene su između učestalosti F. subglutinans i koncentracije FBs (r = 0,50) i između koncentracija AFB1 i FBs (r = 0,52). Statistički veoma značajna (P ≤ 0.01) pozitivna korelacija ustanovljena je između učestalosti F. verticillioides i koncentracije FBs (r = 0,64) u uzorcima sveže požnjevenog zrna kukruza. Rezultati ovih istraživanja ukazuju da su učestalosti toksigenih vrsta gljiva i koncentracije mikotoksina, posebno DON i FBs, bile više u uzorcima uskladištenog zrna nego u uzorcima sveže požnjevenog zrna. Zbog toga, da bi se sprečio razvoj toksigenih gljiva i akumulacija mikotoksina u postžetvenom periodu neophodno je kukuruz dobro osušiti i čuvati u higijensko ispravnim skladištima