Mojmil Cecić

University of Split

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Robust Structured Light Coding for Fast Antropometry Measurements

Mechatronic systems and control (2010)

Ivo Stančić Tamara Šupuk Mojmil Cecić

Structured Light

10.2316/j.2010.216.680-0196

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Spatia Visualisation of Statistically Processed Gait Data

Mojmil Cecić Vladan Papić Tamara Grujić-Šupuk

A novel procedure for presentation and visualization of gait data has been presented. Values of three main angles (hip, knee and ankle) have been measured in five gait phases on the population of 20 students. After statistical processing for each angle in particular gait phase, ellipsoids containing 80% probability in the distribution has been determined using multivariate normal distribution. Gait normality has been discussed according to the relation of the measured angles and ellipsoid volumes for each phase.

Ellipsoid

Gait cycle

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Usporedba različitih kriterija optimiranja parametara robotskih regulatora s promjenjivom strukturom

Engineering review (2007)

Vesna Krajčí Domagoj Dušević Mojmil Cecić

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Optimization of Model-Reference Variable-Structure Controller Parameters for Direct-Current Motor

Mojmil Cecić Vesna Krajčí Mirjana Bonković

Modified Model-Reference Variable-Structure (MRVS) control methods are presented in the paper. Elimination of control signal chattering in order to reduce energy consumption is further shown. Four different integral optimization criterions with the following integral performance indices are described: integral of absolute value of function, integral of squared function, integral of time multiplied by absolute value of function and integral of time multiplied by squared function. Error signal, amount of energy consumption and their combination are used as functions in these integral performance indices for optimization of MRVS controller parameters. The presented integral optimization criterions are tested by computer simulations on modified MRVS direct-current motor control. MRVS controller parameters optimization results in further reduction of energy consumption. Modified MRVS control methods are tested with respect to load change, complex sinusoidal external disturbance and measurement noise and the simulation results show satisfactory robustness of all modified MRVS control methods.

Robustness

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Mimetic Visual Servoing with Adaptive Neural Network (ANN)

Mirjana Bonković Mojmil Cecić Vladan Papić

In this paper we present a visual servoing system. The model free term refers to the system with the unknown kinematics that has to be estimated on-line, while hybrid specifies the visual controller architecture. The proposed system has a conventional Jacobian estimation part necessary for control output generation and it is supplemented with an additional adaptive neural network (ANN). It is shown that ANN could be used to improve the visual servoing performances of the conventional visual servoing controller, as well as to enable the mimetic control of the robot which dynamics differs from the robot which it mimics.

Visual Servoing

Visual control

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Eye-hand coordination based on fuzzy vision transducer

Darko Stipaničev Mojmil Cecić

A fuzzy control system based on the principles of eye-hand coordination is described. As a vision sensor a simple device called a fuzzy eye was applied. The fuzzy eye was successfully used in a sensory-based control system, whose task was to perceive and then to follow a point source of light. The control algorithm was based on a simple fuzzy control algorithm having a vision signal as an input and a motor control as an output. Simulation results showed quite satisfactory system behavior.< >

SIGNAL (programming language)

10.1109/fuzzy.1992.258675

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Real-Time Body Orientation Estimation Based on Two-Layer Stochastic Filter Architecture

Automatika (2010)

Josip Musić Mojmil Cecić Vlasta Zanchi

The article presents real time rigid body orientation estimation using inertial and magnetic sensors. Based on the review of orientation estimation literature we suggest, as possible alternative to standard approaches, novel two-layer stochastic estimation filter architecture based on Kalman and particle filters combined into two layers. Two-layer architecture was chosen because it enables greater applicability via upgrade of already implemented Kalman or particle filters. Four two-layer filter architectures were designed, each one enabling different layer interaction. Estimation of human head orientation was chosen as a case example. Simulated data and batch head orientation measurement data were used to test the proposed architectures in terms of accuracy and computational efficiency and to select the best one in terms of aforementioned performance parameters. Selected architecture was then implemented in real time for human-computer interaction and was tested on several practical applications. Obtained results are presented and discussed and future research directions suggested.

10.1080/00051144.2010.11828380

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The Solution of the Planar Manipulator Foreward Dynamic Problem Using PC

Information Technology Interfaces (2006)

Mojmil Cecić Maja Kuzmanić

The solution of the planar manipulator foreward dynamic problem using PC is suggested. The dynamics of robot manipulator are described by a set of second order nonlinear differential equations. These equations is then written in a matrix form and block diagram scheme is proposed. This block diagram representation is very usefull to create the appropriate simulation model.

Block diagram

Representation

Dynamic equation

Robot manipulator

Manipulator (device)

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Human anthropometric parameters estimation using video based techniques

International Conference on Information and Automation (2009)

Ivo Stančić Tamara Šupuk Mojmil Cecić

In this paper simple and fast method for human anthropometric parameters estimation was proposed and evaluated. Anthropometric data obtained by this method are human segments lengths and masses, which could be primarily used for biomechanics applications, but could be adapted to other fields, as well. Measurement system designed for the purposes of this work consist of a single digital camera, PC and requires simple experimental set-up. We developed 3D model of the human body by using data obtained from 2D subject's image and ellipses as basic objects. Advantages of the proposed method are contactless measurements on the subject which result in minimizing examiners physical intervention and considerable reduction of time required for measurements. Therefore, measurements can be conducted on a large number of subjects, in a short period of time. Proposed method comes with some disadvantages, due which it could be rather used as an estimation tool than as a highly-precise measurement procedure of anthropometric parameters, which is usually performed on cadavers.

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Free and treadmill walking in a view of kinemtaic data

Mojmil Cecić Suzana Cecić Tamara Šupuk

In this work, free and treadmillwalking kinematics of human locomotion is studied and compared.All measurements are performed on one female subject.The lack of equqipment (only one camcoder, treadmill and one PC) was replaced with multiple measurements and statistical data processing using the Bootstrap method.The trajectories for the hip, knee and ankle agles for free and treadmill walking are shown graphically.Theangles for left and right leg are compared.The angle-angle diagrams for hip-knee angles are shown graphically.

Treadmill

Biomechanics

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