Faculty of Electrical Engineeering Sarajevo, Department of Automatic Control and Electronics

Control and Robotics Group

MAJOR FIELDS: -Robotics, mobile and terrain robotics -Mechatronic systems design -Traditional, advanced and intelligent controls -Distributed and networked-based control
Prof. dr. JASMIN VELAGI, jasmin.velagic@etf.unsa.ba

ABOUT THE TEAM

-TEAM SIZE: 1 Associate Professor, 2 Assistant Professor, 4 PhD

students
-LABs:

Lab for robotics and autonomous systems Lab for terrain robotics Lab for industrial automation
-MAJOR INTERESTS: Industrial robotics, Mobile robotics,

Mechatronics, Robust and adaptive control, Model predictive control, intelligent control.
-TEAM ORIENTATION: SCIENTIFIC RESEARCH and DEVELOPMENT

ABOUT THE TEAM - REASEARCH ACTIVITIES

Industrial robotics
Mobile robotics

Industrial automation

Identification and control of nonlinear systems

Image analysis and processing

RELEVANT RECENT EXPERINECE -New methods and arhitectures:

Novel Method for Following of Moving Target in Outdoor Mobile Robot Environment Based on Inverse Matching (MED 2012).

Algorithms for reconstruction of 3D robot environment based on Gaussian iso-values estimation, Marching cubes and Kmeans and fuzzy c-means clustering (IEEE AMC 2012, IFAC Syroco 2012, IEEE MSC 2012, IEEE ICRA 2013).
Evolutionary Design of Fuzzy Logic Based Position Controller for Mobile Robot (Journal of Intelligent and Robotic Systems, 2011). Fuzzy-Genetic Identification and Control Arhitecture for Nonlinear Helicopter Model (Journal of Intelligent Automation and Soft Computing, 2012).

RELEVANT RECENT EXPERINECE -New methods and arhitectures:

Kinetostatic danger field - a novel safety assessment for humanrobot interaction (IROS 2010, Transactions of ASME: Journal of Dynamic Systems, Measurement, and Control, 2011). Mobile Robot Navigation Using Passivity-Based Model Predictive Control, IEEE Transactions on Automatic Control, 2011)

RELEVANT RECENT EXPERINECE -New custom made products:

Holonomous mobile robot - Holbos (2012) Remotely and/or autonomous robot

Quadcopter Quadbos (2012)

RELEVANT RECENT EXPERINECE -Scientific international projects:

ThermalMapper (SEE.ERA.NET.PLUS, 2010-2012), role: partner
3D Thermal Model Reconstruction

3. 3D Thermal Model Reconstruction and Visualization (ETF Sarajevo, BIH) Aim: Reconstruction of 3D mesh from recorded point cloud (discrete to continual data set)
Tested algorithms: Delaunay triangulation Convex hull Scalar field representation Marching cubes Iso-surfaces, iso-values Gaussian splatter changes geometry Delaunay triangulation Scalar field representation Assigning every point/cell a scalar value temperature Closest point transformation/locator (subsampling K-means clustering problem) K-means and fuzzy C-means clustering Marching cubes Increasing the precision of reconstructed 3D model by elimination of problematic points Detecting heat sources Visualization with VTK Software system for 3D computer image processing, and visualization www.vtk.org Visualization Detecting heat sources

Upcoming FP7 calls FP7-ICT 2013 Objectives:

1) Objective ICT-2013.2.1 Robotics, Cognitive Systems & Smart Spaces, Symbiotic Interaction 2) Objective ICT-2013.3.4 Advanced computing, embedded and control systems 3) Objective FoF-ICT-2013.7.2 Equipment assessment for sensor and laser based applications

Upcoming FP7 calls Problems address (in general):

1)Obtain a mathematical model of the controlled plant through advanced techniques in system identification, 2)Design a control policy that meets industry standards in terms of system response to reference signal, safety and robustness to both internal and external disturbances. 3)Integration of various components and testing the final prototype from the engineering point of view (w.r.t. functional requirements, robustness, accuracy, latency, etc.). 4)Design of interactions between the software and hardware components for reaL-time operation (embedding programming, RCP, HIL).

Upcoming FP7 calls

Proposal in progress:: FP7- ICT-2013.2.1 Robotics, Cognitive Systems & Smart Spaces, Symbiotic Interaction. Project title: SMARTLEG: An Intelligent Active Robotic Prosthesis for Lower-Limb Amputees