Mojmil Cecić

University of Split

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COMPARISON OF DIFFERENT CRITERIONS FOR PARAMETER OPTIMIZATION OF VARIABLE-STRUCTURE ROBOT CONTROLLERS

Engineering review (2007)

Vesna Krajčí Domagoj Dušević Mojmil Cecić

This paper presents different integral optimization criterions with the following integral performance indices: integral of absolute value of error, integral of squared error, integral of time multiplied by absolute value of error, integral of time multiplied by squared error. These integral performance indices are used in simulations for parameters optimization of variable-structure controllers of a three-axis planar articulated robot arm. Optimization of robot controller parameters is performed by computer simulations both in robot joint space and in robot tool-configuration space and better optimization results are achieved in robot tool-configuration space.

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A Novel Low-Cost Adaptive Scanner Concept for Mobile Robots

Ingeniería e Investigación (2014)

Ivo Stančić Josip Musić Mojmil Cecić

A fundamental problem in mobile robot applications is the need for accurate knowledge of the position of a vehicle for localizing itself and for avoiding obstacles in its path. In the search for a solution to this problem, researchers and engineers have developed different sensors, systems and techniques. Modern mobile robots relay information obtained from a variety of sensors and sophisticated data fusion algorithms. In this paper, a novel concept for a low-cost adaptive scanner based on a projected light pattern is proposed. The main advantage of the proposed system is its adaptivity, which enables the rapid scanning of the robot's surroundings in search of obstacles and a more detailed scan of a single object to retrieve its surface configuration and perform some limited analyses. This paper addresses the concept behind such a scanner, where a proof-of-concept is achieved using an office DLP projector. During the measurements, the accuracy of the proposed system was tested on obstacles and objects with known configurations. The obtained results are presented and analyzed, and conclusions about the system's performance and possible improvements are discussed.

10.15446/ing.investig.v34n3.41585

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Measuring throughput of the headjoystick human-computer interface

Josip Musić Mojmil Cecić Mirjana Bonković

In the paper human-computer interface device for the disabled is presented. It uses commercially available inertial sensor pack to obtain reliable 3D orientation measurements of the subject's head which are transformed into control signals and can then be used in number of applications. One of the possible applications is control of computer screen pointer. The effectiveness of the device in terms of throughput in multidirectional point-and-select task was already demonstrated in [1]. The paper presents improvements implemented to the system and examines how they reflect in the final throughput values as well as their effect on comfort assessment (through analysis of questioner results).

Interface (matter)

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