TY  - CONF
AU  - Karan, Branko
PY  - 2017
UR  - https://dais.sanu.ac.rs/123456789/2377
AB  - The paper presents a list of the most influential works in Serbian robotics. The list has been synthesized using document citation data from the Elsevier Scopus database and it shows that the impact of Serbia, compared to neighbouring countries, has been highly disproportional and outperforming having in mind the Serbian economic and general scientific strength. However, the analysis also reveals that Serbia’s contribution has been significantly weakened during the last ten years and that Serbian robotics has been declining with respect to the neighbouring countries.
PB  - Cham : Springer
C3  - Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16)
T1  - Serbia Robotics Hall of Fame: The Impact of the Past
SP  - 631
SP  - 639
EP  - 639
DO  - 10.1007/978-3-319-49058-8_69
UR  - https://hdl.handle.net/21.15107/rcub_dais_2377
ER  - 

@conference{
editor = "Rodić, Aleksandar, Borangiu, Theodor",
author = "Karan, Branko",
year = "2017",
abstract = "The paper presents a list of the most influential works in Serbian robotics. The list has been synthesized using document citation data from the Elsevier Scopus database and it shows that the impact of Serbia, compared to neighbouring countries, has been highly disproportional and outperforming having in mind the Serbian economic and general scientific strength. However, the analysis also reveals that Serbia’s contribution has been significantly weakened during the last ten years and that Serbian robotics has been declining with respect to the neighbouring countries.",
publisher = "Cham : Springer",
journal = "Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16)",
title = "Serbia Robotics Hall of Fame: The Impact of the Past",
pages = "631-639-639",
doi = "10.1007/978-3-319-49058-8_69",
url = "https://hdl.handle.net/21.15107/rcub_dais_2377"
}

Rodić, A., Borangiu, T.,& Karan, B.. (2017). Serbia Robotics Hall of Fame: The Impact of the Past. in Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16)
Cham : Springer., 631-639.
https://doi.org/10.1007/978-3-319-49058-8_69
https://hdl.handle.net/21.15107/rcub_dais_2377

Rodić A, Borangiu T, Karan B. Serbia Robotics Hall of Fame: The Impact of the Past. in Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16). 2017;:631-639.
doi:10.1007/978-3-319-49058-8_69
https://hdl.handle.net/21.15107/rcub_dais_2377 .

Rodić, Aleksandar, Borangiu, Theodor, Karan, Branko, "Serbia Robotics Hall of Fame: The Impact of the Past" in Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16) (2017):631-639,
https://doi.org/10.1007/978-3-319-49058-8_69 .,
https://hdl.handle.net/21.15107/rcub_dais_2377 .

TY  - CONF
AU  - Karan, Branko
AU  - Rodić, Aleksandar
AU  - Vujović, Milica
AU  - Stevanović, Ilija
AU  - Jovanović, Miloš
PY  - 2016
UR  - https://dais.sanu.ac.rs/123456789/809
AB  - This paper deals with development of a personal robot functioning as a part of a smart home. The overall system is based on the cloud computing model to leverage processing, data sensing and communication power of the robot. At the semantic level, it provides capabilities for improved perceiving and expressing the emotions based on analysis of collected and exchanged history data on emotional states and actions.
PB  - Tel Aviv : The Israeli Robotics Association
C3  - ICR2016, The 5th Israeli Conference on Robotics, 13-14 April 2016, Air Force Center, Herzliya, Israel
T1  - Implementation architecture of a home robot assistant
UR  - https://hdl.handle.net/21.15107/rcub_dais_809
ER  - 

@conference{
author = "Karan, Branko and Rodić, Aleksandar and Vujović, Milica and Stevanović, Ilija and Jovanović, Miloš",
year = "2016",
abstract = "This paper deals with development of a personal robot functioning as a part of a smart home. The overall system is based on the cloud computing model to leverage processing, data sensing and communication power of the robot. At the semantic level, it provides capabilities for improved perceiving and expressing the emotions based on analysis of collected and exchanged history data on emotional states and actions.",
publisher = "Tel Aviv : The Israeli Robotics Association",
journal = "ICR2016, The 5th Israeli Conference on Robotics, 13-14 April 2016, Air Force Center, Herzliya, Israel",
title = "Implementation architecture of a home robot assistant",
url = "https://hdl.handle.net/21.15107/rcub_dais_809"
}

Karan, B., Rodić, A., Vujović, M., Stevanović, I.,& Jovanović, M.. (2016). Implementation architecture of a home robot assistant. in ICR2016, The 5th Israeli Conference on Robotics, 13-14 April 2016, Air Force Center, Herzliya, Israel
Tel Aviv : The Israeli Robotics Association..
https://hdl.handle.net/21.15107/rcub_dais_809

Karan B, Rodić A, Vujović M, Stevanović I, Jovanović M. Implementation architecture of a home robot assistant. in ICR2016, The 5th Israeli Conference on Robotics, 13-14 April 2016, Air Force Center, Herzliya, Israel. 2016;.
https://hdl.handle.net/21.15107/rcub_dais_809 .

Karan, Branko, Rodić, Aleksandar, Vujović, Milica, Stevanović, Ilija, Jovanović, Miloš, "Implementation architecture of a home robot assistant" in ICR2016, The 5th Israeli Conference on Robotics, 13-14 April 2016, Air Force Center, Herzliya, Israel (2016),
https://hdl.handle.net/21.15107/rcub_dais_809 .

TY  - CONF
AU  - Karan, Branko
PY  - 2016
UR  - https://dais.sanu.ac.rs/123456789/849
AB  - The paper presents a list of the most influential works of Serbian robotics. The list has been synthesized using document citation data from the Elsevier Scopus database and it shows that the impact of Serbia, compared to neighboring countries, has been highly disproportional and outperforming having in mind the Serbian economic and general scientific strength. However, the analysis also reveals that Serbia’s contribution has been significantly weakened during the last ten years and that Serbian robotics has been declining with respect to neighboring countries.
PB  - Academic Mind
C3  - 25th International Conference on Robotics in Alpe-Adria-Danube Region - RAAD 2016, June 30th - July 2nd 2016, Belgrade, Serbia: Book of abstracts
T1  - Serbia Robotics Hall of Fame: the Impact of the Past
UR  - https://hdl.handle.net/21.15107/rcub_dais_849
ER  - 

@conference{
author = "Karan, Branko",
year = "2016",
abstract = "The paper presents a list of the most influential works of Serbian robotics. The list has been synthesized using document citation data from the Elsevier Scopus database and it shows that the impact of Serbia, compared to neighboring countries, has been highly disproportional and outperforming having in mind the Serbian economic and general scientific strength. However, the analysis also reveals that Serbia’s contribution has been significantly weakened during the last ten years and that Serbian robotics has been declining with respect to neighboring countries.",
publisher = "Academic Mind",
journal = "25th International Conference on Robotics in Alpe-Adria-Danube Region - RAAD 2016, June 30th - July 2nd 2016, Belgrade, Serbia: Book of abstracts",
title = "Serbia Robotics Hall of Fame: the Impact of the Past",
url = "https://hdl.handle.net/21.15107/rcub_dais_849"
}

Karan, B.. (2016). Serbia Robotics Hall of Fame: the Impact of the Past. in 25th International Conference on Robotics in Alpe-Adria-Danube Region - RAAD 2016, June 30th - July 2nd 2016, Belgrade, Serbia: Book of abstracts
Academic Mind..
https://hdl.handle.net/21.15107/rcub_dais_849

Karan B. Serbia Robotics Hall of Fame: the Impact of the Past. in 25th International Conference on Robotics in Alpe-Adria-Danube Region - RAAD 2016, June 30th - July 2nd 2016, Belgrade, Serbia: Book of abstracts. 2016;.
https://hdl.handle.net/21.15107/rcub_dais_849 .

Karan, Branko, "Serbia Robotics Hall of Fame: the Impact of the Past" in 25th International Conference on Robotics in Alpe-Adria-Danube Region - RAAD 2016, June 30th - July 2nd 2016, Belgrade, Serbia: Book of abstracts (2016),
https://hdl.handle.net/21.15107/rcub_dais_849 .

TY  - CONF
AU  - Karan, Branko
PY  - 2016
UR  - https://dais.sanu.ac.rs/123456789/864
AB  - The paper presents a list of the most influential works in Serbian robotics. The list has been synthesized using document citation data from the Elsevier Scopus database and it shows that the impact of Serbia, compared to neighbouring countries, has been highly disproportional and outperforming having in mind the Serbian economic and general scientific strength. However, the analysis also reveals that Serbia’s contribution has been significantly weakened during the last ten years and that Serbian robotics has been declining with respect to the neighbouring countries.
PB  - Cham : Springer International Publishing
C3  - Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16)
T1  - Serbia Robotics Hall of Fame: The Impact of the Past
SP  - 631
EP  - 639
UR  - https://hdl.handle.net/21.15107/rcub_dais_864
ER  - 

@conference{
author = "Karan, Branko",
year = "2016",
abstract = "The paper presents a list of the most influential works in Serbian robotics. The list has been synthesized using document citation data from the Elsevier Scopus database and it shows that the impact of Serbia, compared to neighbouring countries, has been highly disproportional and outperforming having in mind the Serbian economic and general scientific strength. However, the analysis also reveals that Serbia’s contribution has been significantly weakened during the last ten years and that Serbian robotics has been declining with respect to the neighbouring countries.",
publisher = "Cham : Springer International Publishing",
journal = "Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16)",
title = "Serbia Robotics Hall of Fame: The Impact of the Past",
pages = "631-639",
url = "https://hdl.handle.net/21.15107/rcub_dais_864"
}

Karan, B.. (2016). Serbia Robotics Hall of Fame: The Impact of the Past. in Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16)
Cham : Springer International Publishing., 631-639.
https://hdl.handle.net/21.15107/rcub_dais_864

Karan B. Serbia Robotics Hall of Fame: The Impact of the Past. in Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16). 2016;:631-639.
https://hdl.handle.net/21.15107/rcub_dais_864 .

Karan, Branko, "Serbia Robotics Hall of Fame: The Impact of the Past" in Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16) (2016):631-639,
https://hdl.handle.net/21.15107/rcub_dais_864 .

TY  - JOUR
AU  - Rodić, Aleksandar
AU  - Jovanović, Miloš
AU  - Stevanović, Ilija
AU  - Karan, Branko
AU  - Potkonjak, Veljko
PY  - 2015
UR  - https://dais.sanu.ac.rs/123456789/808
AB  - The paper is addressed to prototyping of technology platform aimed to develop of ambient-aware human-centric indoor service robot with attributes of emotional intelligence to enhance interaction with social environment. The robot consists of a wheel-based mobile platform with spinal (segmented) torso, bi-manual manipulation system with multi-finger robot hands and robot head. Robot prototype was designed to see, hear, speak and use its multimodal interface for enhanced communication with humans. Robot is capable of demonstrating its affective and social behavior by using audio and video interface as well as body gestures. Robot is equipped with advanced perceptive system based on heterogeneous sensorial system, including laser range finder, ultrasonic distance sensors and proximity detectors, 3-axis inertial sensor (accelerometer and gyroscope), stereo vision system, 2 wide-range microphones, and 2 loudspeakers. The device is foreseen to operate autonomously but it may be also operated remotely from a host computer through wireless communication link as well as by use of a smart-phone based on advanced client-server architecture. Robot prototype has embedded attributes of artificial intelligence and utilizes advanced cognitive capabilities such as spatial reasoning, obstacle and collision avoidance, simultaneous localization and mapping, etc. Robot is designed in a manner to enable uploading of new or changing existing algorithms of emotional intelligence that should provide to robot human-like affective and social behavior. The key objective of the project presented in the paper regards to building advanced technology platform for research and development of personal robots aimed to use for different purpose, e.g. robot-entertainer, battler, robot for medical care, security robot, etc. In a word, the designed technology platform is expected to help in development human-centered service robots to be used at home, in the office, public institutions, etc.
PB  - Elsevier
T2  - Digital Communications and Networks
T1  - Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment
SP  - 112
EP  - 124
VL  - 1
DO  - 10.1016/j.dcan.2015.03.002
UR  - https://hdl.handle.net/21.15107/rcub_dais_808
ER  - 

@article{
author = "Rodić, Aleksandar and Jovanović, Miloš and Stevanović, Ilija and Karan, Branko and Potkonjak, Veljko",
year = "2015",
abstract = "The paper is addressed to prototyping of technology platform aimed to develop of ambient-aware human-centric indoor service robot with attributes of emotional intelligence to enhance interaction with social environment. The robot consists of a wheel-based mobile platform with spinal (segmented) torso, bi-manual manipulation system with multi-finger robot hands and robot head. Robot prototype was designed to see, hear, speak and use its multimodal interface for enhanced communication with humans. Robot is capable of demonstrating its affective and social behavior by using audio and video interface as well as body gestures. Robot is equipped with advanced perceptive system based on heterogeneous sensorial system, including laser range finder, ultrasonic distance sensors and proximity detectors, 3-axis inertial sensor (accelerometer and gyroscope), stereo vision system, 2 wide-range microphones, and 2 loudspeakers. The device is foreseen to operate autonomously but it may be also operated remotely from a host computer through wireless communication link as well as by use of a smart-phone based on advanced client-server architecture. Robot prototype has embedded attributes of artificial intelligence and utilizes advanced cognitive capabilities such as spatial reasoning, obstacle and collision avoidance, simultaneous localization and mapping, etc. Robot is designed in a manner to enable uploading of new or changing existing algorithms of emotional intelligence that should provide to robot human-like affective and social behavior. The key objective of the project presented in the paper regards to building advanced technology platform for research and development of personal robots aimed to use for different purpose, e.g. robot-entertainer, battler, robot for medical care, security robot, etc. In a word, the designed technology platform is expected to help in development human-centered service robots to be used at home, in the office, public institutions, etc.",
publisher = "Elsevier",
journal = "Digital Communications and Networks",
title = "Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment",
pages = "112-124",
volume = "1",
doi = "10.1016/j.dcan.2015.03.002",
url = "https://hdl.handle.net/21.15107/rcub_dais_808"
}

Rodić, A., Jovanović, M., Stevanović, I., Karan, B.,& Potkonjak, V.. (2015). Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment. in Digital Communications and Networks
Elsevier., 1, 112-124.
https://doi.org/10.1016/j.dcan.2015.03.002
https://hdl.handle.net/21.15107/rcub_dais_808

Rodić A, Jovanović M, Stevanović I, Karan B, Potkonjak V. Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment. in Digital Communications and Networks. 2015;1:112-124.
doi:10.1016/j.dcan.2015.03.002
https://hdl.handle.net/21.15107/rcub_dais_808 .

Rodić, Aleksandar, Jovanović, Miloš, Stevanović, Ilija, Karan, Branko, Potkonjak, Veljko, "Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment" in Digital Communications and Networks, 1 (2015):112-124,
https://doi.org/10.1016/j.dcan.2015.03.002 .,
https://hdl.handle.net/21.15107/rcub_dais_808 .

TY  - JOUR
AU  - Karan, Branko
PY  - 2015
UR  - https://dais.sanu.ac.rs/123456789/722
AB  - The paper presents a calibration model suitable for software-based calibration of Kinect-type RGB-D sensors. Additionally, it describes a two-step calibration procedure assuming a use of only a simple checkerboard pattern. Finally, the paper presents a calibration case study, showing that the calibration may improve sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. The results obtained in this study using calibration models of different levels of complexity reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.
PB  - Belgrade : University of belgrade, Faculty of Mechanical Engineering
T2  - FME Transactions
T1  - Calibration of Kinect-type RGB-D sensors for robotic applications
SP  - 47
EP  - 54
VL  - 43
DO  - 10.5937/fmet1501047K
UR  - https://hdl.handle.net/21.15107/rcub_dais_722
ER  - 

@article{
author = "Karan, Branko",
year = "2015",
abstract = "The paper presents a calibration model suitable for software-based calibration of Kinect-type RGB-D sensors. Additionally, it describes a two-step calibration procedure assuming a use of only a simple checkerboard pattern. Finally, the paper presents a calibration case study, showing that the calibration may improve sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. The results obtained in this study using calibration models of different levels of complexity reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.",
publisher = "Belgrade : University of belgrade, Faculty of Mechanical Engineering",
journal = "FME Transactions",
title = "Calibration of Kinect-type RGB-D sensors for robotic applications",
pages = "47-54",
volume = "43",
doi = "10.5937/fmet1501047K",
url = "https://hdl.handle.net/21.15107/rcub_dais_722"
}

Karan, B.. (2015). Calibration of Kinect-type RGB-D sensors for robotic applications. in FME Transactions
Belgrade : University of belgrade, Faculty of Mechanical Engineering., 43, 47-54.
https://doi.org/10.5937/fmet1501047K
https://hdl.handle.net/21.15107/rcub_dais_722

Karan B. Calibration of Kinect-type RGB-D sensors for robotic applications. in FME Transactions. 2015;43:47-54.
doi:10.5937/fmet1501047K
https://hdl.handle.net/21.15107/rcub_dais_722 .

Karan, Branko, "Calibration of Kinect-type RGB-D sensors for robotic applications" in FME Transactions, 43 (2015):47-54,
https://doi.org/10.5937/fmet1501047K .,
https://hdl.handle.net/21.15107/rcub_dais_722 .

TY  - CHAP
AU  - Karan, Branko
AU  - Golubović, Špela
AU  - Gnjatović, Milan
PY  - 2014
UR  - https://dais.sanu.ac.rs/123456789/669
AB  - This chapter presents a research towards implementation of a computer vision system for markerless skeleton tracking in therapy of gross motor skill disorders in children suffering from mild cognitive impairment. The proposed system is based on a low-cost 3D sensor and a skeleton tracking software. The envisioned architecture is scalable in the sense that the system may be used as a stand-alone assistive tool for tracking the effects of therapy or it may be integrated with an advanced autonomous conversational agent to maintain the spatial attention of the child and to increase her motivation to undergo a long-term therapy.
PB  - Springer International Publishing
T2  - New Trends in Medical and Service Robots: Challenges and Solutions
T1  - Markerless Vision-Based Skeleton Tracking in Therapy of Gross Motor Skill Disorders in Children
SP  - 79
EP  - 93
DO  - 10.1007/978-3-319-05431-5_6
UR  - https://hdl.handle.net/21.15107/rcub_dais_669
ER  - 

@inbook{
author = "Karan, Branko and Golubović, Špela and Gnjatović, Milan",
year = "2014",
abstract = "This chapter presents a research towards implementation of a computer vision system for markerless skeleton tracking in therapy of gross motor skill disorders in children suffering from mild cognitive impairment. The proposed system is based on a low-cost 3D sensor and a skeleton tracking software. The envisioned architecture is scalable in the sense that the system may be used as a stand-alone assistive tool for tracking the effects of therapy or it may be integrated with an advanced autonomous conversational agent to maintain the spatial attention of the child and to increase her motivation to undergo a long-term therapy.",
publisher = "Springer International Publishing",
journal = "New Trends in Medical and Service Robots: Challenges and Solutions",
booktitle = "Markerless Vision-Based Skeleton Tracking in Therapy of Gross Motor Skill Disorders in Children",
pages = "79-93",
doi = "10.1007/978-3-319-05431-5_6",
url = "https://hdl.handle.net/21.15107/rcub_dais_669"
}

Karan, B., Golubović, Š.,& Gnjatović, M.. (2014). Markerless Vision-Based Skeleton Tracking in Therapy of Gross Motor Skill Disorders in Children. in New Trends in Medical and Service Robots: Challenges and Solutions
Springer International Publishing., 79-93.
https://doi.org/10.1007/978-3-319-05431-5_6
https://hdl.handle.net/21.15107/rcub_dais_669

Karan B, Golubović Š, Gnjatović M. Markerless Vision-Based Skeleton Tracking in Therapy of Gross Motor Skill Disorders in Children. in New Trends in Medical and Service Robots: Challenges and Solutions. 2014;:79-93.
doi:10.1007/978-3-319-05431-5_6
https://hdl.handle.net/21.15107/rcub_dais_669 .

Karan, Branko, Golubović, Špela, Gnjatović, Milan, "Markerless Vision-Based Skeleton Tracking in Therapy of Gross Motor Skill Disorders in Children" in New Trends in Medical and Service Robots: Challenges and Solutions (2014):79-93,
https://doi.org/10.1007/978-3-319-05431-5_6 .,
https://hdl.handle.net/21.15107/rcub_dais_669 .

TY  - CONF
AU  - Borovac, Branislav
AU  - Delić, Vlado
AU  - Gnjatović, Milan
AU  - Karan, Branko
AU  - Raković, Mirko
AU  - Penčić, Marko
AU  - Savić, Srđan
AU  - Nikolić, Milutin
AU  - Taševski, Jovica
AU  - Mišković, Dragiša
PY  - 2014
UR  - https://dais.sanu.ac.rs/123456789/598
AB  - This paper reports on work in progress towards development of a robot to be used as assistive technology in treatment of children with developmental disorders (cerebral palsy). This work integrates two activities. The first one is mechanical device design (humanoid robot) of sufficient capabilities for demonstration of therapeutical exercises for habilitation of gross and fine motor functions and for acquiring spatial relationships. The second one is design of appropriate communication capabilities of the robot. The basic therapeutical role of the robot is to motivate children to practice therapy harder and longer. To achieve this, robot must fulfil two requirements: it must have appropriate appearance to be able to establish affective attachment of the child to the robot, and must be able to communicate with children verbally (speech recognition and synthesis,) and non-verbally (facial expressions, gestures...). Thus, conversational abilities are unavoidable and among the most important capabilities. In short, robot should be able to manage three-party natural language conversation – between the child, the therapist and the robot – in clinical settings.
PB  - Belgrade : Institute for Research and Design in Commerce and Industry
C3  - Zbornik radova X meðunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry
T1  - Humanoid robot Marko - an assistant in therapy for children
SP  - 1
EP  - 6
UR  - https://hdl.handle.net/21.15107/rcub_dais_598
ER  - 

@conference{
author = "Borovac, Branislav and Delić, Vlado and Gnjatović, Milan and Karan, Branko and Raković, Mirko and Penčić, Marko and Savić, Srđan and Nikolić, Milutin and Taševski, Jovica and Mišković, Dragiša",
year = "2014",
abstract = "This paper reports on work in progress towards development of a robot to be used as assistive technology in treatment of children with developmental disorders (cerebral palsy). This work integrates two activities. The first one is mechanical device design (humanoid robot) of sufficient capabilities for demonstration of therapeutical exercises for habilitation of gross and fine motor functions and for acquiring spatial relationships. The second one is design of appropriate communication capabilities of the robot. The basic therapeutical role of the robot is to motivate children to practice therapy harder and longer. To achieve this, robot must fulfil two requirements: it must have appropriate appearance to be able to establish affective attachment of the child to the robot, and must be able to communicate with children verbally (speech recognition and synthesis,) and non-verbally (facial expressions, gestures...). Thus, conversational abilities are unavoidable and among the most important capabilities. In short, robot should be able to manage three-party natural language conversation – between the child, the therapist and the robot – in clinical settings.",
publisher = "Belgrade : Institute for Research and Design in Commerce and Industry",
journal = "Zbornik radova X meðunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry",
title = "Humanoid robot Marko - an assistant in therapy for children",
pages = "1-6",
url = "https://hdl.handle.net/21.15107/rcub_dais_598"
}

Borovac, B., Delić, V., Gnjatović, M., Karan, B., Raković, M., Penčić, M., Savić, S., Nikolić, M., Taševski, J.,& Mišković, D.. (2014). Humanoid robot Marko - an assistant in therapy for children. in Zbornik radova X meðunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry
Belgrade : Institute for Research and Design in Commerce and Industry., 1-6.
https://hdl.handle.net/21.15107/rcub_dais_598

Borovac B, Delić V, Gnjatović M, Karan B, Raković M, Penčić M, Savić S, Nikolić M, Taševski J, Mišković D. Humanoid robot Marko - an assistant in therapy for children. in Zbornik radova X meðunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry. 2014;:1-6.
https://hdl.handle.net/21.15107/rcub_dais_598 .

Borovac, Branislav, Delić, Vlado, Gnjatović, Milan, Karan, Branko, Raković, Mirko, Penčić, Marko, Savić, Srđan, Nikolić, Milutin, Taševski, Jovica, Mišković, Dragiša, "Humanoid robot Marko - an assistant in therapy for children" in Zbornik radova X meðunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry (2014):1-6,
https://hdl.handle.net/21.15107/rcub_dais_598 .

TY  - CONF
AU  - Karan, Branko
AU  - Potkonjak, Veljko
AU  - Rodić, Aleksandar
AU  - Katić, Duško
AU  - Jovanović, Miloš
AU  - Borovac, Branislav
PY  - 2014
UR  - https://dais.sanu.ac.rs/123456789/599
AB  - This paper describes a prototype of an ambient-intelligent advanced service robot of anthropomorphic characteristics that is intended for operation in indoor environment as well as for safe interaction with people. The robot consists of a wheeled mobile platform with a spinal (segmented) torso, bi-manual manipulation system with hands, and a robot head with capabilities to see, hear and speak. It is equipped with a number of advanced sensors, including indoor laser range finder, several ultrasonic probes as distance sensors and obstacle detectors, 3-axis inertial sensors with gyroscope, stereo vision system, 2 wide-range microphones, and 2 speakerphones. Its operation is autonomous but it may be controlled from a host computer through a wireless link. The robot prototype is expected to express advanced cognitive capabilities including spatial understanding, autonomous motion, affective and social behavior. The development of the robot is a joint effort of four Serbian academic institutions and it is expected to have it fully operational in the second half of 2015.
PB  - Belgrade : Institute for Research and Design in Commerce and Industry
C3  - Zbornik radova X međunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry)
T1  - Development of a prototype of an ambient-aware two-arm mobile service robot
SP  - 7
EP  - 12
UR  - https://hdl.handle.net/21.15107/rcub_dais_599
ER  - 

@conference{
author = "Karan, Branko and Potkonjak, Veljko and Rodić, Aleksandar and Katić, Duško and Jovanović, Miloš and Borovac, Branislav",
year = "2014",
abstract = "This paper describes a prototype of an ambient-intelligent advanced service robot of anthropomorphic characteristics that is intended for operation in indoor environment as well as for safe interaction with people. The robot consists of a wheeled mobile platform with a spinal (segmented) torso, bi-manual manipulation system with hands, and a robot head with capabilities to see, hear and speak. It is equipped with a number of advanced sensors, including indoor laser range finder, several ultrasonic probes as distance sensors and obstacle detectors, 3-axis inertial sensors with gyroscope, stereo vision system, 2 wide-range microphones, and 2 speakerphones. Its operation is autonomous but it may be controlled from a host computer through a wireless link. The robot prototype is expected to express advanced cognitive capabilities including spatial understanding, autonomous motion, affective and social behavior. The development of the robot is a joint effort of four Serbian academic institutions and it is expected to have it fully operational in the second half of 2015.",
publisher = "Belgrade : Institute for Research and Design in Commerce and Industry",
journal = "Zbornik radova X međunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry)",
title = "Development of a prototype of an ambient-aware two-arm mobile service robot",
pages = "7-12",
url = "https://hdl.handle.net/21.15107/rcub_dais_599"
}

Karan, B., Potkonjak, V., Rodić, A., Katić, D., Jovanović, M.,& Borovac, B.. (2014). Development of a prototype of an ambient-aware two-arm mobile service robot. in Zbornik radova X međunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry)
Belgrade : Institute for Research and Design in Commerce and Industry., 7-12.
https://hdl.handle.net/21.15107/rcub_dais_599

Karan B, Potkonjak V, Rodić A, Katić D, Jovanović M, Borovac B. Development of a prototype of an ambient-aware two-arm mobile service robot. in Zbornik radova X međunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry). 2014;:7-12.
https://hdl.handle.net/21.15107/rcub_dais_599 .

Karan, Branko, Potkonjak, Veljko, Rodić, Aleksandar, Katić, Duško, Jovanović, Miloš, Borovac, Branislav, "Development of a prototype of an ambient-aware two-arm mobile service robot" in Zbornik radova X međunarodnog simpozijuma "Istraživanja i projektovanja za privredu" (Proc. 10th Int. Symp. Research and Design for Industry) (2014):7-12,
https://hdl.handle.net/21.15107/rcub_dais_599 .

TY  - CHAP
AU  - Rodić, Aleksandar
AU  - Miloradović, Branko
AU  - Popić, Svemir
AU  - Spasojević, Sofija
AU  - Karan, Branko
PY  - 2014
UR  - https://dais.sanu.ac.rs/123456789/721
AB  - The chapter presents the development of a modular compliant robotic hand characterized by the anthropomorphic structure and functionality. The prototype is made based on experience in development of contemporary advanced artificial hands and taking into account the complementary aspects of human bio-mechanics. The robot hand developed in the Institute Mihailo Pupin is called “Pupin hand”. The Pupin hand is developed for research purposes as well as for implementation with service and medical robot devices as an advance robot end-effector. Mechanical design, system identification, modeling and simulation and acquisition of the biological skill of grasping adopted from humans are considered in the chapter. Mechanical structure of the tendon-driven, multi-finger, 23 degrees of freedom compliant robot hand is presented in the chapter. Model of the hand is represented by corresponding multi-body rigid system with the complementary structural elasticity inserted between the particular finger modules. Some characteristic simulation results are given in the chapter in order to validate the chosen design concept. For the purpose of motion capture of human grasping skill, an appropriate experimental setup is prepared. It includes an infrared Kinect camera that combines visual and depth information about objects from the environment. The aim of using the Kinect sensor is to acquire human grasping skill and to map this natural motion to the robotic device. The novelties of the robot hand prototyping beyond to the state-of-the-art are stressed out in the conclusion.
PB  - Springer International Publishing
T2  - New Trends in Medical and Service Robots: Theory and Integrated Applications
T1  - Development of Modular Compliant Anthropomorphic Robot Hand
SP  - 205
EP  - 219
DO  - 10.1007/978-3-319-01592-7_15
UR  - https://hdl.handle.net/21.15107/rcub_dais_721
ER  - 

@inbook{
author = "Rodić, Aleksandar and Miloradović, Branko and Popić, Svemir and Spasojević, Sofija and Karan, Branko",
year = "2014",
abstract = "The chapter presents the development of a modular compliant robotic hand characterized by the anthropomorphic structure and functionality. The prototype is made based on experience in development of contemporary advanced artificial hands and taking into account the complementary aspects of human bio-mechanics. The robot hand developed in the Institute Mihailo Pupin is called “Pupin hand”. The Pupin hand is developed for research purposes as well as for implementation with service and medical robot devices as an advance robot end-effector. Mechanical design, system identification, modeling and simulation and acquisition of the biological skill of grasping adopted from humans are considered in the chapter. Mechanical structure of the tendon-driven, multi-finger, 23 degrees of freedom compliant robot hand is presented in the chapter. Model of the hand is represented by corresponding multi-body rigid system with the complementary structural elasticity inserted between the particular finger modules. Some characteristic simulation results are given in the chapter in order to validate the chosen design concept. For the purpose of motion capture of human grasping skill, an appropriate experimental setup is prepared. It includes an infrared Kinect camera that combines visual and depth information about objects from the environment. The aim of using the Kinect sensor is to acquire human grasping skill and to map this natural motion to the robotic device. The novelties of the robot hand prototyping beyond to the state-of-the-art are stressed out in the conclusion.",
publisher = "Springer International Publishing",
journal = "New Trends in Medical and Service Robots: Theory and Integrated Applications",
booktitle = "Development of Modular Compliant Anthropomorphic Robot Hand",
pages = "205-219",
doi = "10.1007/978-3-319-01592-7_15",
url = "https://hdl.handle.net/21.15107/rcub_dais_721"
}

Rodić, A., Miloradović, B., Popić, S., Spasojević, S.,& Karan, B.. (2014). Development of Modular Compliant Anthropomorphic Robot Hand. in New Trends in Medical and Service Robots: Theory and Integrated Applications
Springer International Publishing., 205-219.
https://doi.org/10.1007/978-3-319-01592-7_15
https://hdl.handle.net/21.15107/rcub_dais_721

Rodić A, Miloradović B, Popić S, Spasojević S, Karan B. Development of Modular Compliant Anthropomorphic Robot Hand. in New Trends in Medical and Service Robots: Theory and Integrated Applications. 2014;:205-219.
doi:10.1007/978-3-319-01592-7_15
https://hdl.handle.net/21.15107/rcub_dais_721 .

Rodić, Aleksandar, Miloradović, Branko, Popić, Svemir, Spasojević, Sofija, Karan, Branko, "Development of Modular Compliant Anthropomorphic Robot Hand" in New Trends in Medical and Service Robots: Theory and Integrated Applications (2014):205-219,
https://doi.org/10.1007/978-3-319-01592-7_15 .,
https://hdl.handle.net/21.15107/rcub_dais_721 .

TY  - CONF
AU  - Karan, Branko
PY  - 2013
UR  - https://dais.sanu.ac.rs/123456789/4732
AB  - Recent advances in development of low-cost 3D sensors, such as Microsoft Kinect, bring attractive opportunities to robot system integrators. The accuracy provided by such sensors is generally unsatisfactory for many robotic applications, but it may be improved through calibration. This paper presents a calibration case study that is based on the sensor calibration procedure involving only a use of a simple checkerboard. It is shown that the calibration enables improving sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. Additionally, results obtained using different levels of complexity of calibration models reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.
PB  - IEEE
C3  - Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia
T1  - Accuracy improvements of consumer-grade 3D sensors for robotic applications
SP  - 141
EP  - 146
DO  - 10.1109/SISY.2013.6662558
UR  - https://hdl.handle.net/21.15107/rcub_dais_4732
ER  - 

@conference{
author = "Karan, Branko",
year = "2013",
abstract = "Recent advances in development of low-cost 3D sensors, such as Microsoft Kinect, bring attractive opportunities to robot system integrators. The accuracy provided by such sensors is generally unsatisfactory for many robotic applications, but it may be improved through calibration. This paper presents a calibration case study that is based on the sensor calibration procedure involving only a use of a simple checkerboard. It is shown that the calibration enables improving sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. Additionally, results obtained using different levels of complexity of calibration models reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.",
publisher = "IEEE",
journal = "Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia",
title = "Accuracy improvements of consumer-grade 3D sensors for robotic applications",
pages = "141-146",
doi = "10.1109/SISY.2013.6662558",
url = "https://hdl.handle.net/21.15107/rcub_dais_4732"
}

Karan, B.. (2013). Accuracy improvements of consumer-grade 3D sensors for robotic applications. in Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia
IEEE., 141-146.
https://doi.org/10.1109/SISY.2013.6662558
https://hdl.handle.net/21.15107/rcub_dais_4732

Karan B. Accuracy improvements of consumer-grade 3D sensors for robotic applications. in Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia. 2013;:141-146.
doi:10.1109/SISY.2013.6662558
https://hdl.handle.net/21.15107/rcub_dais_4732 .

Karan, Branko, "Accuracy improvements of consumer-grade 3D sensors for robotic applications" in Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia (2013):141-146,
https://doi.org/10.1109/SISY.2013.6662558 .,
https://hdl.handle.net/21.15107/rcub_dais_4732 .

TY  - CONF
AU  - Karan, Branko
PY  - 2013
UR  - https://dais.sanu.ac.rs/123456789/719
AB  - Recent advances in development of low-cost 3D sensors, such as Microsoft Kinect, bring attractive opportunities to robot system integrators. The accuracy provided by such sensors is generally unsatisfactory for many robotic applications, but it may be improved through calibration. This paper presents a calibration case study that is based on the sensor calibration procedure involving only a use of a simple checkerboard. It is shown that the calibration enables improving sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. Additionally, results obtained using different levels of complexity of calibration models reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.
PB  - IEEE
C3  - Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia
T1  - Accuracy improvements of consumer-grade 3D sensors for robotic applications
SP  - 141
EP  - 146
DO  - 10.1109/SISY.2013.6662558
UR  - https://hdl.handle.net/21.15107/rcub_dais_719
ER  - 

@conference{
author = "Karan, Branko",
year = "2013",
abstract = "Recent advances in development of low-cost 3D sensors, such as Microsoft Kinect, bring attractive opportunities to robot system integrators. The accuracy provided by such sensors is generally unsatisfactory for many robotic applications, but it may be improved through calibration. This paper presents a calibration case study that is based on the sensor calibration procedure involving only a use of a simple checkerboard. It is shown that the calibration enables improving sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. Additionally, results obtained using different levels of complexity of calibration models reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.",
publisher = "IEEE",
journal = "Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia",
title = "Accuracy improvements of consumer-grade 3D sensors for robotic applications",
pages = "141-146",
doi = "10.1109/SISY.2013.6662558",
url = "https://hdl.handle.net/21.15107/rcub_dais_719"
}

Karan, B.. (2013). Accuracy improvements of consumer-grade 3D sensors for robotic applications. in Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia
IEEE., 141-146.
https://doi.org/10.1109/SISY.2013.6662558
https://hdl.handle.net/21.15107/rcub_dais_719

Karan B. Accuracy improvements of consumer-grade 3D sensors for robotic applications. in Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia. 2013;:141-146.
doi:10.1109/SISY.2013.6662558
https://hdl.handle.net/21.15107/rcub_dais_719 .

Karan, Branko, "Accuracy improvements of consumer-grade 3D sensors for robotic applications" in Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia (2013):141-146,
https://doi.org/10.1109/SISY.2013.6662558 .,
https://hdl.handle.net/21.15107/rcub_dais_719 .

TY  - CONF
AU  - Spasojević, Sofija
AU  - Karan, Branko
PY  - 2013
UR  - https://dais.sanu.ac.rs/123456789/720
AB  - Rad prikazuje jedan pristup u merenju 3D pozicija karakterističnih zglobova ljudske šake korišćenjem senzora tipa Kinect, kao jeftine alternative skupim vizuelnim sistemima. Navedene su osnovne karakteristike ovog senzora i ukratko je opisan kalibracioni model i način integracije parametara kalibracije u proces izračunavanja 3D koordinata izabranih tačaka u prostoru. Analizirana je ostvarena tačnost u merenju 3D koordinata zglobova duž primera trajektorije hvatanja cilindra. Analiza je sprovedena posmatranjem devijacija izmerenih dužina pojedinih segmenata prstiju. Uočene su značajne razlike grešaka merenja u zavisnosti od pozicije zgloba
na šaci.
AB  - This paper presents one approach for measurement of 3D positions of characteristic joints of human hand using a Kinect-type sensor as a low-cost alternative to expensive visual systems. Main properties of the sensor are indicated and a brief description of the calibration model and integration of calibration parameters in the process of calculating the 3D coordinates of selected points in space is given. Achieved accuracy in measurement of 3D coordinates of joints along sample cylinder grasping trajectory was analysed. The analysis was conducted by observing deviations in measured lengths of finger segments. Significant differences in measurement errors were found for different joints, depending on their position on the hand.
PB  - Beograd : Društvo za ETRAN
C3  - Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013
T1  - Primena senzora tipa Kinect u snimanju trajektorija zglobova šake
SP  - RO3.2.1
EP  - RO3.2.4
UR  - https://hdl.handle.net/21.15107/rcub_dais_720
ER  - 

@conference{
author = "Spasojević, Sofija and Karan, Branko",
year = "2013",
abstract = "Rad prikazuje jedan pristup u merenju 3D pozicija karakterističnih zglobova ljudske šake korišćenjem senzora tipa Kinect, kao jeftine alternative skupim vizuelnim sistemima. Navedene su osnovne karakteristike ovog senzora i ukratko je opisan kalibracioni model i način integracije parametara kalibracije u proces izračunavanja 3D koordinata izabranih tačaka u prostoru. Analizirana je ostvarena tačnost u merenju 3D koordinata zglobova duž primera trajektorije hvatanja cilindra. Analiza je sprovedena posmatranjem devijacija izmerenih dužina pojedinih segmenata prstiju. Uočene su značajne razlike grešaka merenja u zavisnosti od pozicije zgloba
na šaci., This paper presents one approach for measurement of 3D positions of characteristic joints of human hand using a Kinect-type sensor as a low-cost alternative to expensive visual systems. Main properties of the sensor are indicated and a brief description of the calibration model and integration of calibration parameters in the process of calculating the 3D coordinates of selected points in space is given. Achieved accuracy in measurement of 3D coordinates of joints along sample cylinder grasping trajectory was analysed. The analysis was conducted by observing deviations in measured lengths of finger segments. Significant differences in measurement errors were found for different joints, depending on their position on the hand.",
publisher = "Beograd : Društvo za ETRAN",
journal = "Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013",
title = "Primena senzora tipa Kinect u snimanju trajektorija zglobova šake",
pages = "RO3.2.1-RO3.2.4",
url = "https://hdl.handle.net/21.15107/rcub_dais_720"
}

Spasojević, S.,& Karan, B.. (2013). Primena senzora tipa Kinect u snimanju trajektorija zglobova šake. in Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013
Beograd : Društvo za ETRAN., RO3.2.1-RO3.2.4.
https://hdl.handle.net/21.15107/rcub_dais_720

Spasojević S, Karan B. Primena senzora tipa Kinect u snimanju trajektorija zglobova šake. in Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013. 2013;:RO3.2.1-RO3.2.4.
https://hdl.handle.net/21.15107/rcub_dais_720 .

Spasojević, Sofija, Karan, Branko, "Primena senzora tipa Kinect u snimanju trajektorija zglobova šake" in Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013 (2013):RO3.2.1-RO3.2.4,
https://hdl.handle.net/21.15107/rcub_dais_720 .

TY  - CONF
AU  - Karan, Branko
PY  - 2013
UR  - https://dais.sanu.ac.rs/123456789/718
AB  - Accuracy of depth measurement with Microsoft Kinect and similar 3D vision sensors depends on variations in sensor production. Sensor reading may show significant systematic errors that can be compensated in software by using an adequate depth calibration model. This paper presents one such model and a procedure for identification of its parameters. An example calibration is given to illustrate the procedure and the attained improvements.
PB  - Plzen : University of West Bohemia, Plzen, Czech Republic
C3  - 21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings
T1  - Calibration of depth measurement model for Kinect-type 3D vision sensors
SP  - 61
EP  - 64
UR  - https://hdl.handle.net/21.15107/rcub_dais_718
ER  - 

@conference{
author = "Karan, Branko",
year = "2013",
abstract = "Accuracy of depth measurement with Microsoft Kinect and similar 3D vision sensors depends on variations in sensor production. Sensor reading may show significant systematic errors that can be compensated in software by using an adequate depth calibration model. This paper presents one such model and a procedure for identification of its parameters. An example calibration is given to illustrate the procedure and the attained improvements.",
publisher = "Plzen : University of West Bohemia, Plzen, Czech Republic",
journal = "21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings",
title = "Calibration of depth measurement model for Kinect-type 3D vision sensors",
pages = "61-64",
url = "https://hdl.handle.net/21.15107/rcub_dais_718"
}

Karan, B.. (2013). Calibration of depth measurement model for Kinect-type 3D vision sensors. in 21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings
Plzen : University of West Bohemia, Plzen, Czech Republic., 61-64.
https://hdl.handle.net/21.15107/rcub_dais_718

Karan B. Calibration of depth measurement model for Kinect-type 3D vision sensors. in 21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings. 2013;:61-64.
https://hdl.handle.net/21.15107/rcub_dais_718 .

Karan, Branko, "Calibration of depth measurement model for Kinect-type 3D vision sensors" in 21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings (2013):61-64,
https://hdl.handle.net/21.15107/rcub_dais_718 .

TY  - CONF
AU  - Karan, Branko
PY  - 2013
UR  - https://dais.sanu.ac.rs/123456789/717
AB  - Accuracy of depth measurement with Microsoft Kinect and similar 3D vision sensors depends on variations in sensor production. Sensor reading may show significant systematic errors that can be compensated in software by using an adequate depth calibration model. This paper presents one such model and a procedure for identification of its parameters. An example calibration is given to illustrate the procedure and the attained improvements.
PB  - Plzen : University of West Bohemia, Plzen, Czech Republic
C3  - 21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings
T1  - Calibration of depth measurement model for Kinect-type 3D vision sensors
SP  - 61
EP  - 64
UR  - https://hdl.handle.net/21.15107/rcub_dais_717
ER  - 

@conference{
author = "Karan, Branko",
year = "2013",
abstract = "Accuracy of depth measurement with Microsoft Kinect and similar 3D vision sensors depends on variations in sensor production. Sensor reading may show significant systematic errors that can be compensated in software by using an adequate depth calibration model. This paper presents one such model and a procedure for identification of its parameters. An example calibration is given to illustrate the procedure and the attained improvements.",
publisher = "Plzen : University of West Bohemia, Plzen, Czech Republic",
journal = "21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings",
title = "Calibration of depth measurement model for Kinect-type 3D vision sensors",
pages = "61-64",
url = "https://hdl.handle.net/21.15107/rcub_dais_717"
}

Karan, B.. (2013). Calibration of depth measurement model for Kinect-type 3D vision sensors. in 21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings
Plzen : University of West Bohemia, Plzen, Czech Republic., 61-64.
https://hdl.handle.net/21.15107/rcub_dais_717

Karan B. Calibration of depth measurement model for Kinect-type 3D vision sensors. in 21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings. 2013;:61-64.
https://hdl.handle.net/21.15107/rcub_dais_717 .

Karan, Branko, "Calibration of depth measurement model for Kinect-type 3D vision sensors" in 21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision WSCG 2013, Poster Proceedings (2013):61-64,
https://hdl.handle.net/21.15107/rcub_dais_717 .

TY  - CONF
AU  - Karan, Branko
PY  - 2013
UR  - https://dais.sanu.ac.rs/123456789/741
AB  - Recent advances in development of low-cost 3D sensors, such as Microsoft Kinect, bring attractive opportunities to robot system integrators. The accuracy provided by such sensors is generally unsatisfactory for many robotic applications, but it may be improved through calibration. This paper presents a calibration case study that is based on the sensor calibration procedure involving only a use of a simple checkerboard. It is shown that the calibration enables improving sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. Additionally, results obtained using different levels of complexity of calibration models reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.
PB  - IEEE
C3  - Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia
T1  - Accuracy improvements of consumer-grade 3D sensors for robotic applications
SP  - 141
EP  - 146
DO  - 10.1109/SISY.2013.6662558
UR  - https://hdl.handle.net/21.15107/rcub_dais_741
ER  - 

@conference{
author = "Karan, Branko",
year = "2013",
abstract = "Recent advances in development of low-cost 3D sensors, such as Microsoft Kinect, bring attractive opportunities to robot system integrators. The accuracy provided by such sensors is generally unsatisfactory for many robotic applications, but it may be improved through calibration. This paper presents a calibration case study that is based on the sensor calibration procedure involving only a use of a simple checkerboard. It is shown that the calibration enables improving sensor accuracy 3 to 5 times, depending on the anticipated use of the sensor. Additionally, results obtained using different levels of complexity of calibration models reveal that depth measurement correction is an important component of calibration as it may reduce by 50% the errors in sensor reading.",
publisher = "IEEE",
journal = "Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia",
title = "Accuracy improvements of consumer-grade 3D sensors for robotic applications",
pages = "141-146",
doi = "10.1109/SISY.2013.6662558",
url = "https://hdl.handle.net/21.15107/rcub_dais_741"
}

Karan, B.. (2013). Accuracy improvements of consumer-grade 3D sensors for robotic applications. in Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia
IEEE., 141-146.
https://doi.org/10.1109/SISY.2013.6662558
https://hdl.handle.net/21.15107/rcub_dais_741

Karan B. Accuracy improvements of consumer-grade 3D sensors for robotic applications. in Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia. 2013;:141-146.
doi:10.1109/SISY.2013.6662558
https://hdl.handle.net/21.15107/rcub_dais_741 .

Karan, Branko, "Accuracy improvements of consumer-grade 3D sensors for robotic applications" in Proceedings of the IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY 2013), September 26-28, 2013, Subotica, Serbia (2013):141-146,
https://doi.org/10.1109/SISY.2013.6662558 .,
https://hdl.handle.net/21.15107/rcub_dais_741 .

TY  - CONF
AU  - Šušić, Marko
AU  - Spasojević, Sofija
AU  - Karan, Branko
PY  - 2012
UR  - https://dais.sanu.ac.rs/123456789/716
AB  - The paper presents introductory results on analyzing effectiveness of using Kinect camera in realization of robotic manipulation tasks. Two available communication interfaces, Kinect for Windows and OpenNI are considered and compared from the standpoint of 3D data acquisition. A practical method for calibration of Kinect camera is implemented. The method involves identification of internal parameters of Kinect RGB and depth camera and external parametars in the form of relative transformation between the cameras.
AB  - U radu su prikazani uvodni rezultati analize efikasnosti upotrebe Kinect kamere u realizaciji robotskih zadataka koji se odnose na manipulaciju. Razmotreni su i uporeðeni softverski paketi Kinect for Windows i OpenNI sa stanovišta 3D akvizicije podataka. Implementirana je praktična metoda za kalibraciju Kinect kamere. Metoda uključuje identifikaciju unutrašnjih parametara RGB i dubinske kamere, kao i spoljašnjih parametara u vidu relativne transformacije između kamera.
PB  - Beograd : Društvo za ETRAN
C3  - Zbornik radova 56. konferencije ETRAN, Zlatibor, 11-14. juna 2012
C3  - Proceedings of the 56th ETRAN Conference, Zlatibor, June 11-14, 2012
T1  - Akvizicija 3D podataka i praktična kalibracija Microsoft Kinect kamere
SP  - RO2.4.1
EP  - RO2.4.4
UR  - https://hdl.handle.net/21.15107/rcub_dais_716
ER  - 

@conference{
author = "Šušić, Marko and Spasojević, Sofija and Karan, Branko",
year = "2012",
abstract = "The paper presents introductory results on analyzing effectiveness of using Kinect camera in realization of robotic manipulation tasks. Two available communication interfaces, Kinect for Windows and OpenNI are considered and compared from the standpoint of 3D data acquisition. A practical method for calibration of Kinect camera is implemented. The method involves identification of internal parameters of Kinect RGB and depth camera and external parametars in the form of relative transformation between the cameras., U radu su prikazani uvodni rezultati analize efikasnosti upotrebe Kinect kamere u realizaciji robotskih zadataka koji se odnose na manipulaciju. Razmotreni su i uporeðeni softverski paketi Kinect for Windows i OpenNI sa stanovišta 3D akvizicije podataka. Implementirana je praktična metoda za kalibraciju Kinect kamere. Metoda uključuje identifikaciju unutrašnjih parametara RGB i dubinske kamere, kao i spoljašnjih parametara u vidu relativne transformacije između kamera.",
publisher = "Beograd : Društvo za ETRAN",
journal = "Zbornik radova 56. konferencije ETRAN, Zlatibor, 11-14. juna 2012, Proceedings of the 56th ETRAN Conference, Zlatibor, June 11-14, 2012",
title = "Akvizicija 3D podataka i praktična kalibracija Microsoft Kinect kamere",
pages = "RO2.4.1-RO2.4.4",
url = "https://hdl.handle.net/21.15107/rcub_dais_716"
}

Šušić, M., Spasojević, S.,& Karan, B.. (2012). Akvizicija 3D podataka i praktična kalibracija Microsoft Kinect kamere. in Zbornik radova 56. konferencije ETRAN, Zlatibor, 11-14. juna 2012
Beograd : Društvo za ETRAN., RO2.4.1-RO2.4.4.
https://hdl.handle.net/21.15107/rcub_dais_716

Šušić M, Spasojević S, Karan B. Akvizicija 3D podataka i praktična kalibracija Microsoft Kinect kamere. in Zbornik radova 56. konferencije ETRAN, Zlatibor, 11-14. juna 2012. 2012;:RO2.4.1-RO2.4.4.
https://hdl.handle.net/21.15107/rcub_dais_716 .

Šušić, Marko, Spasojević, Sofija, Karan, Branko, "Akvizicija 3D podataka i praktična kalibracija Microsoft Kinect kamere" in Zbornik radova 56. konferencije ETRAN, Zlatibor, 11-14. juna 2012 (2012):RO2.4.1-RO2.4.4,
https://hdl.handle.net/21.15107/rcub_dais_716 .

TY  - CONF
AU  - Karan, Branko
PY  - 2012
UR  - https://dais.sanu.ac.rs/123456789/714
AB  - Visual tracking of stationary points positioned at a large distance from moving robot provides a good basis for determining robot orientation and it may speed-up operation of structure from motion and navigation algorithms. This paper considers an implementation of the tracker that builds a far background model by assigning each visually tracked point a degree of membership that express an extent to which an apparent motion of corresponding image patch is in accordance to motion of projections of points at infinity. An experimental implementation of the tracker is described together with illustrative examples of its operation.
PB  - IEEE
C3  - Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest
T1  - Towards implementation of far background tracker for vision-based robot navigation
SP  - 353
EP  - 358
DO  - 10.1109/CINTI.2012.6496789
UR  - https://hdl.handle.net/21.15107/rcub_dais_714
ER  - 

@conference{
author = "Karan, Branko",
year = "2012",
abstract = "Visual tracking of stationary points positioned at a large distance from moving robot provides a good basis for determining robot orientation and it may speed-up operation of structure from motion and navigation algorithms. This paper considers an implementation of the tracker that builds a far background model by assigning each visually tracked point a degree of membership that express an extent to which an apparent motion of corresponding image patch is in accordance to motion of projections of points at infinity. An experimental implementation of the tracker is described together with illustrative examples of its operation.",
publisher = "IEEE",
journal = "Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest",
title = "Towards implementation of far background tracker for vision-based robot navigation",
pages = "353-358",
doi = "10.1109/CINTI.2012.6496789",
url = "https://hdl.handle.net/21.15107/rcub_dais_714"
}

Karan, B.. (2012). Towards implementation of far background tracker for vision-based robot navigation. in Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest
IEEE., 353-358.
https://doi.org/10.1109/CINTI.2012.6496789
https://hdl.handle.net/21.15107/rcub_dais_714

Karan B. Towards implementation of far background tracker for vision-based robot navigation. in Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest. 2012;:353-358.
doi:10.1109/CINTI.2012.6496789
https://hdl.handle.net/21.15107/rcub_dais_714 .

Karan, Branko, "Towards implementation of far background tracker for vision-based robot navigation" in Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest (2012):353-358,
https://doi.org/10.1109/CINTI.2012.6496789 .,
https://hdl.handle.net/21.15107/rcub_dais_714 .

TY  - CONF
AU  - Karan, Branko
PY  - 2012
UR  - https://dais.sanu.ac.rs/123456789/715
AB  - Tracking of points lying in far background is of multiple importance in visual navigation, especially in tasks assuming fast camera motion dynamics. This paper describes an algorithm for efficient identification and tracking of such points using single monocular camera. The algorithm is based on a model of far background consisting of a set of tracked keypoints and associated membership degrees. The effectiveness of the proposed approach is demonstrated on open air video sequences. Some restrictions and further work necessary to operationalize the method are also considered.
AB  - Praćenje tačaka udaljene pozadine je od višestrukog značaja u vizuelnoj navigaciji, posebno u zadacima koji pretpostavljaju brzu dinamiku kretanja kamere. U radu je opisan algoritam kojim se ostvaruje efikasna identifikacija i praæenje ovih tačaka korišćenjem monokularne vizije. Algoritam se zasniva na modelu udaljene pozadine koji se sastoji iz skupa kljuènih taèaka i asociranih stepena èlanstva. Efektivnost predloženog pristupa demonstirana je na video sekvencama dobijenim na otvorenom prostoru. Takođe su razmotrena neka ograničenja i dalji rad u cilju operacionalizacije metoda.
PB  - Novi Sad : Faculty of Technical Sciences, Novi Sad
C3  - Zbornik radova: Deveta konferencija Digitalna obrada govora i slike DOGS 2012, Kovačica, 4, 5. i 6. oktobar 2012.
C3  - Proceedings of the 9th Conference on Digital Speech and Image Processing DOGS 2012, Kovačica, October 4th, 5th, and 7th, 2012
T1  - Ekstrakcija i praćenje ključnih tačaka daleke pozadine u dinamičkoj monokularnoj viziji
SP  - 80
EP  - 83
UR  - https://hdl.handle.net/21.15107/rcub_dais_715
ER  - 

@conference{
author = "Karan, Branko",
year = "2012",
abstract = "Tracking of points lying in far background is of multiple importance in visual navigation, especially in tasks assuming fast camera motion dynamics. This paper describes an algorithm for efficient identification and tracking of such points using single monocular camera. The algorithm is based on a model of far background consisting of a set of tracked keypoints and associated membership degrees. The effectiveness of the proposed approach is demonstrated on open air video sequences. Some restrictions and further work necessary to operationalize the method are also considered., Praćenje tačaka udaljene pozadine je od višestrukog značaja u vizuelnoj navigaciji, posebno u zadacima koji pretpostavljaju brzu dinamiku kretanja kamere. U radu je opisan algoritam kojim se ostvaruje efikasna identifikacija i praæenje ovih tačaka korišćenjem monokularne vizije. Algoritam se zasniva na modelu udaljene pozadine koji se sastoji iz skupa kljuènih taèaka i asociranih stepena èlanstva. Efektivnost predloženog pristupa demonstirana je na video sekvencama dobijenim na otvorenom prostoru. Takođe su razmotrena neka ograničenja i dalji rad u cilju operacionalizacije metoda.",
publisher = "Novi Sad : Faculty of Technical Sciences, Novi Sad",
journal = "Zbornik radova: Deveta konferencija Digitalna obrada govora i slike DOGS 2012, Kovačica, 4, 5. i 6. oktobar 2012., Proceedings of the 9th Conference on Digital Speech and Image Processing DOGS 2012, Kovačica, October 4th, 5th, and 7th, 2012",
title = "Ekstrakcija i praćenje ključnih tačaka daleke pozadine u dinamičkoj monokularnoj viziji",
pages = "80-83",
url = "https://hdl.handle.net/21.15107/rcub_dais_715"
}

Karan, B.. (2012). Ekstrakcija i praćenje ključnih tačaka daleke pozadine u dinamičkoj monokularnoj viziji. in Zbornik radova: Deveta konferencija Digitalna obrada govora i slike DOGS 2012, Kovačica, 4, 5. i 6. oktobar 2012.
Novi Sad : Faculty of Technical Sciences, Novi Sad., 80-83.
https://hdl.handle.net/21.15107/rcub_dais_715

Karan B. Ekstrakcija i praćenje ključnih tačaka daleke pozadine u dinamičkoj monokularnoj viziji. in Zbornik radova: Deveta konferencija Digitalna obrada govora i slike DOGS 2012, Kovačica, 4, 5. i 6. oktobar 2012.. 2012;:80-83.
https://hdl.handle.net/21.15107/rcub_dais_715 .

Karan, Branko, "Ekstrakcija i praćenje ključnih tačaka daleke pozadine u dinamičkoj monokularnoj viziji" in Zbornik radova: Deveta konferencija Digitalna obrada govora i slike DOGS 2012, Kovačica, 4, 5. i 6. oktobar 2012. (2012):80-83,
https://hdl.handle.net/21.15107/rcub_dais_715 .

TY  - CONF
AU  - Karan, Branko
PY  - 2012
UR  - https://dais.sanu.ac.rs/123456789/740
AB  - Visual tracking of stationary points positioned at a large distance from moving robot provides a good basis for determining robot orientation and it may speed-up operation of structure from motion and navigation algorithms. This paper considers an implementation of the tracker that builds a far background model by assigning each visually tracked point a degree of membership that express an extent to which an apparent motion of corresponding image patch is in accordance to motion of projections of points at infinity. An experimental implementation of the tracker is described together with illustrative examples of its operation.
PB  - IEEE
C3  - Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest
T1  - Towards implementation of far background tracker for vision-based robot navigation
SP  - 353
EP  - 358
DO  - 10.1109/CINTI.2012.6496789
UR  - https://hdl.handle.net/21.15107/rcub_dais_740
ER  - 

@conference{
author = "Karan, Branko",
year = "2012",
abstract = "Visual tracking of stationary points positioned at a large distance from moving robot provides a good basis for determining robot orientation and it may speed-up operation of structure from motion and navigation algorithms. This paper considers an implementation of the tracker that builds a far background model by assigning each visually tracked point a degree of membership that express an extent to which an apparent motion of corresponding image patch is in accordance to motion of projections of points at infinity. An experimental implementation of the tracker is described together with illustrative examples of its operation.",
publisher = "IEEE",
journal = "Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest",
title = "Towards implementation of far background tracker for vision-based robot navigation",
pages = "353-358",
doi = "10.1109/CINTI.2012.6496789",
url = "https://hdl.handle.net/21.15107/rcub_dais_740"
}

Karan, B.. (2012). Towards implementation of far background tracker for vision-based robot navigation. in Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest
IEEE., 353-358.
https://doi.org/10.1109/CINTI.2012.6496789
https://hdl.handle.net/21.15107/rcub_dais_740

Karan B. Towards implementation of far background tracker for vision-based robot navigation. in Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest. 2012;:353-358.
doi:10.1109/CINTI.2012.6496789
https://hdl.handle.net/21.15107/rcub_dais_740 .

Karan, Branko, "Towards implementation of far background tracker for vision-based robot navigation" in Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest (2012):353-358,
https://doi.org/10.1109/CINTI.2012.6496789 .,
https://hdl.handle.net/21.15107/rcub_dais_740 .

TY  - JOUR
AU  - Devedžić, Vladan
AU  - Karan, Branko
AU  - Timotijević, Milija
PY  - 1987
UR  - https://dais.sanu.ac.rs/123456789/15437
AB  - U radu je opisan programski modul za obradu ulazno/izlaznih signala kod industrijskog robotskog kontrolera opšte namene. Koncept asinhronog praćenja promenljivih spoljnih signala i uslova uz istovremeno izvršavanje robotskog programa je iskorišćen kao metod komunikacije robotskog sistema s okolinom. Razmotrene su različite mogućnosti pristupa ulazno/izlaznim signalima iz korisničkih programa napisanih na robotskom programskom jeziku RL, koji je ugradjen u kontroler. Opisane su mogućnosti rekonfiguracije ulazno/izlaznog modula sistema u slučaju promene radnog okruženja ili vrste aplikacije. U diskusiji o trenutnim performansama realizovanog sistema sa stanovišta obrade ulazno/izlaznih signala, ukazano je na mogućnosti nadgradnje i proširenja sistema.
AB  - The program module for input/output (I/O) signal processing in a general purpose industrial robot controller is described. The concept of asynchronous scanning of external signals and conditions simultaneously with the robot program execution is used as a method of robot system communication with the environment. Various alternatives of accessing I/O signals from user programs, written in the controller's built-in robot programming language are considered. The I/O module reconfiguration capabilities are described for the case of various application and/or environment changes. The system extension possibilities are discussed from the I/O signal processing viewpoint.
T2  - Informatika
T1  - Programska implementacija modula za obradu ulazno/izlaznih signala kod robotskog kontrolera opšte namene
T1  - Software implementation of input/output signal processing module in a general purpose robot controller
SP  - 213
EP  - 220
VL  - 21
IS  - 4
UR  - https://hdl.handle.net/21.15107/rcub_dais_15437
ER  - 

@article{
author = "Devedžić, Vladan and Karan, Branko and Timotijević, Milija",
year = "1987",
abstract = "U radu je opisan programski modul za obradu ulazno/izlaznih signala kod industrijskog robotskog kontrolera opšte namene. Koncept asinhronog praćenja promenljivih spoljnih signala i uslova uz istovremeno izvršavanje robotskog programa je iskorišćen kao metod komunikacije robotskog sistema s okolinom. Razmotrene su različite mogućnosti pristupa ulazno/izlaznim signalima iz korisničkih programa napisanih na robotskom programskom jeziku RL, koji je ugradjen u kontroler. Opisane su mogućnosti rekonfiguracije ulazno/izlaznog modula sistema u slučaju promene radnog okruženja ili vrste aplikacije. U diskusiji o trenutnim performansama realizovanog sistema sa stanovišta obrade ulazno/izlaznih signala, ukazano je na mogućnosti nadgradnje i proširenja sistema., The program module for input/output (I/O) signal processing in a general purpose industrial robot controller is described. The concept of asynchronous scanning of external signals and conditions simultaneously with the robot program execution is used as a method of robot system communication with the environment. Various alternatives of accessing I/O signals from user programs, written in the controller's built-in robot programming language are considered. The I/O module reconfiguration capabilities are described for the case of various application and/or environment changes. The system extension possibilities are discussed from the I/O signal processing viewpoint.",
journal = "Informatika",
title = "Programska implementacija modula za obradu ulazno/izlaznih signala kod robotskog kontrolera opšte namene, Software implementation of input/output signal processing module in a general purpose robot controller",
pages = "213-220",
volume = "21",
number = "4",
url = "https://hdl.handle.net/21.15107/rcub_dais_15437"
}

Devedžić, V., Karan, B.,& Timotijević, M.. (1987). Programska implementacija modula za obradu ulazno/izlaznih signala kod robotskog kontrolera opšte namene. in Informatika, 21(4), 213-220.
https://hdl.handle.net/21.15107/rcub_dais_15437

Devedžić V, Karan B, Timotijević M. Programska implementacija modula za obradu ulazno/izlaznih signala kod robotskog kontrolera opšte namene. in Informatika. 1987;21(4):213-220.
https://hdl.handle.net/21.15107/rcub_dais_15437 .

Devedžić, Vladan, Karan, Branko, Timotijević, Milija, "Programska implementacija modula za obradu ulazno/izlaznih signala kod robotskog kontrolera opšte namene" in Informatika, 21, no. 4 (1987):213-220,
https://hdl.handle.net/21.15107/rcub_dais_15437 .

TY  - CONF
AU  - Karan, Branko
PY  - 1986
UR  - https://dais.sanu.ac.rs/123456789/853
AB  - Design features of a system for programming the industrial robots with dynamic control are described. When specifying the system, special attention was given to achieving hardware transportability, simplicity of communication between the user and the system, possibility of active user participation in generation of control algorithms, and possibility of implementing the software on a computer with relatively modest characteristics. The software is intended for implementation on a microprocessor-based system and should enable the user to control a robot via specialized programming language RL which incorporates structures for defining the positions and orientations of working points, motion specification, and synchronization of the robot with its environment. The paper contains descriptions of the RL language and of the system structure. The main characteristics and advantages of the system as well as questions concerning its realization on existing microprocessors are also discussed.
PB  - New York : Pergamon Press
C3  - Robot Control 1985 (SYROCO'85), Proceedings of the 1st IFAC Symposium, Barcelona, Spain, 6-8 November 1985
T1  - A software system for teaching and commanding the industrial robots
SP  - 245
EP  - 250
UR  - https://hdl.handle.net/21.15107/rcub_dais_853
ER  - 

@conference{
author = "Karan, Branko",
year = "1986",
abstract = "Design features of a system for programming the industrial robots with dynamic control are described. When specifying the system, special attention was given to achieving hardware transportability, simplicity of communication between the user and the system, possibility of active user participation in generation of control algorithms, and possibility of implementing the software on a computer with relatively modest characteristics. The software is intended for implementation on a microprocessor-based system and should enable the user to control a robot via specialized programming language RL which incorporates structures for defining the positions and orientations of working points, motion specification, and synchronization of the robot with its environment. The paper contains descriptions of the RL language and of the system structure. The main characteristics and advantages of the system as well as questions concerning its realization on existing microprocessors are also discussed.",
publisher = "New York : Pergamon Press",
journal = "Robot Control 1985 (SYROCO'85), Proceedings of the 1st IFAC Symposium, Barcelona, Spain, 6-8 November 1985",
title = "A software system for teaching and commanding the industrial robots",
pages = "245-250",
url = "https://hdl.handle.net/21.15107/rcub_dais_853"
}

Karan, B.. (1986). A software system for teaching and commanding the industrial robots. in Robot Control 1985 (SYROCO'85), Proceedings of the 1st IFAC Symposium, Barcelona, Spain, 6-8 November 1985
New York : Pergamon Press., 245-250.
https://hdl.handle.net/21.15107/rcub_dais_853

Karan B. A software system for teaching and commanding the industrial robots. in Robot Control 1985 (SYROCO'85), Proceedings of the 1st IFAC Symposium, Barcelona, Spain, 6-8 November 1985. 1986;:245-250.
https://hdl.handle.net/21.15107/rcub_dais_853 .

Karan, Branko, "A software system for teaching and commanding the industrial robots" in Robot Control 1985 (SYROCO'85), Proceedings of the 1st IFAC Symposium, Barcelona, Spain, 6-8 November 1985 (1986):245-250,
https://hdl.handle.net/21.15107/rcub_dais_853 .

TY  - CONF
AU  - Anđelić, Milan
AU  - Karan, Branko
AU  - Jovanović, Želimir
AU  - Simonović, Slobodan
PY  - 1986
UR  - https://dais.sanu.ac.rs/123456789/2340
AB  - U radu se daje opis vodoprivrednog informacionog sistema SR Srbije (Jugoslavija). Sistem je podeljen u sledeće informacione podsisteme: podsistem za vodosnabdevanje, podsistem za hidroenergetiku, podsistem za zaštitu voda, podsistem za zaštitu od poplava i podsistem za zaštitu od erozije i bujica.
AB  - This paper provides a description of the information and water resources management system of SR Serbia (Yugoslavia). This system is divided into the following information subsystems: subsystem for water supply, for hydroelectric supply, for the protection of waters against floods and system for the protection against erosion and torrents.
C3  - Drugi kongres o vodama Jugoslavije, Ljubljana, 27-29. oktobar 1986
C3  - Second Yugoslavian Water Resources Congress, Ljubljana, Yugoslavia, October 27-29, 1986
T1  - Vodoprivredni informacioni sistem SR Srbije
T1  - Water resources management information system of SR Serbia
UR  - https://hdl.handle.net/21.15107/rcub_dais_2340
ER  - 

@conference{
author = "Anđelić, Milan and Karan, Branko and Jovanović, Želimir and Simonović, Slobodan",
year = "1986",
abstract = "U radu se daje opis vodoprivrednog informacionog sistema SR Srbije (Jugoslavija). Sistem je podeljen u sledeće informacione podsisteme: podsistem za vodosnabdevanje, podsistem za hidroenergetiku, podsistem za zaštitu voda, podsistem za zaštitu od poplava i podsistem za zaštitu od erozije i bujica., This paper provides a description of the information and water resources management system of SR Serbia (Yugoslavia). This system is divided into the following information subsystems: subsystem for water supply, for hydroelectric supply, for the protection of waters against floods and system for the protection against erosion and torrents.",
journal = "Drugi kongres o vodama Jugoslavije, Ljubljana, 27-29. oktobar 1986, Second Yugoslavian Water Resources Congress, Ljubljana, Yugoslavia, October 27-29, 1986",
title = "Vodoprivredni informacioni sistem SR Srbije, Water resources management information system of SR Serbia",
url = "https://hdl.handle.net/21.15107/rcub_dais_2340"
}

Anđelić, M., Karan, B., Jovanović, Ž.,& Simonović, S.. (1986). Vodoprivredni informacioni sistem SR Srbije. in Drugi kongres o vodama Jugoslavije, Ljubljana, 27-29. oktobar 1986.
https://hdl.handle.net/21.15107/rcub_dais_2340

Anđelić M, Karan B, Jovanović Ž, Simonović S. Vodoprivredni informacioni sistem SR Srbije. in Drugi kongres o vodama Jugoslavije, Ljubljana, 27-29. oktobar 1986. 1986;.
https://hdl.handle.net/21.15107/rcub_dais_2340 .

Anđelić, Milan, Karan, Branko, Jovanović, Želimir, Simonović, Slobodan, "Vodoprivredni informacioni sistem SR Srbije" in Drugi kongres o vodama Jugoslavije, Ljubljana, 27-29. oktobar 1986 (1986),
https://hdl.handle.net/21.15107/rcub_dais_2340 .

TY  - CONF
AU  - Vukobratović, Miomir
AU  - Karan, Branko
AU  - Kirćanski, Manja
AU  - Kirćanski, Nenad
PY  - 1986
UR  - https://dais.sanu.ac.rs/123456789/15435
AB  - U radu je prikazan koncept novog upravljačkog sistema razvijenog u Institutu "Mihailo Pupin", namenjenog za upravljanje manipulacionim robotima opšte namene. Upravljački sistem sastoji se iz 3 procesora u paralelnom radu. Prvi procesor namenjen je za komunikaciju sa korisnikom i sinhronizaciju rada sistema sa okolinom (komunikacioni procesor), drugi (kinematički procesor) prevodi spoljašnje koordinate u unutrašnje, a treći (dinamički procesor) obezbeđuje praćenje zadatih trajektorija. Procesorske ploče su realizovane na bazi mikroprocesora Intel 8086 i koprocesora 8087 sa taktom od 8 MHz.
AB  - This paper presents a concept of a new robot controller developed in "Mihailo Pupin" Institute. The controller consists of 3 parallel processor units. The first unit is intended for comunication with a user and synchronization of the system operation with its environment (communication processor). The second unit (kinematic processor) transforms world coordinates into joint angles, and the third (dynamic processor) enables quality tracking of imposed trajectories. The processor boards are based on Intel 8086 microprocessors and 8087 coprocessors running at 8 MHz clock.
PB  - Herceg Novi : Jugoslovenski savez za ETAN
C3  - Zbornik radova / XXX jugoslovenska konferencija ETAN-a, Herceg Novi, 2-6. juna 1986.
T1  - Koncept multiprocesorskog upravljačkog sistema robota
T1  - Concept of multiprocessor robot control system
SP  - 143
EP  - 148
UR  - https://hdl.handle.net/21.15107/rcub_dais_15435
ER  - 

@conference{
author = "Vukobratović, Miomir and Karan, Branko and Kirćanski, Manja and Kirćanski, Nenad",
year = "1986",
abstract = "U radu je prikazan koncept novog upravljačkog sistema razvijenog u Institutu "Mihailo Pupin", namenjenog za upravljanje manipulacionim robotima opšte namene. Upravljački sistem sastoji se iz 3 procesora u paralelnom radu. Prvi procesor namenjen je za komunikaciju sa korisnikom i sinhronizaciju rada sistema sa okolinom (komunikacioni procesor), drugi (kinematički procesor) prevodi spoljašnje koordinate u unutrašnje, a treći (dinamički procesor) obezbeđuje praćenje zadatih trajektorija. Procesorske ploče su realizovane na bazi mikroprocesora Intel 8086 i koprocesora 8087 sa taktom od 8 MHz., This paper presents a concept of a new robot controller developed in "Mihailo Pupin" Institute. The controller consists of 3 parallel processor units. The first unit is intended for comunication with a user and synchronization of the system operation with its environment (communication processor). The second unit (kinematic processor) transforms world coordinates into joint angles, and the third (dynamic processor) enables quality tracking of imposed trajectories. The processor boards are based on Intel 8086 microprocessors and 8087 coprocessors running at 8 MHz clock.",
publisher = "Herceg Novi : Jugoslovenski savez za ETAN",
journal = "Zbornik radova / XXX jugoslovenska konferencija ETAN-a, Herceg Novi, 2-6. juna 1986.",
title = "Koncept multiprocesorskog upravljačkog sistema robota, Concept of multiprocessor robot control system",
pages = "143-148",
url = "https://hdl.handle.net/21.15107/rcub_dais_15435"
}

Vukobratović, M., Karan, B., Kirćanski, M.,& Kirćanski, N.. (1986). Koncept multiprocesorskog upravljačkog sistema robota. in Zbornik radova / XXX jugoslovenska konferencija ETAN-a, Herceg Novi, 2-6. juna 1986.
Herceg Novi : Jugoslovenski savez za ETAN., 143-148.
https://hdl.handle.net/21.15107/rcub_dais_15435

Vukobratović M, Karan B, Kirćanski M, Kirćanski N. Koncept multiprocesorskog upravljačkog sistema robota. in Zbornik radova / XXX jugoslovenska konferencija ETAN-a, Herceg Novi, 2-6. juna 1986.. 1986;:143-148.
https://hdl.handle.net/21.15107/rcub_dais_15435 .

Vukobratović, Miomir, Karan, Branko, Kirćanski, Manja, Kirćanski, Nenad, "Koncept multiprocesorskog upravljačkog sistema robota" in Zbornik radova / XXX jugoslovenska konferencija ETAN-a, Herceg Novi, 2-6. juna 1986. (1986):143-148,
https://hdl.handle.net/21.15107/rcub_dais_15435 .

TY  - CONF
AU  - Karan, Branko
AU  - Timotijević, Milija
AU  - Đurović, Milan
AU  - Devedžić, Vladan
AU  - Josifović, Nevena
PY  - 1986
UR  - https://dais.sanu.ac.rs/123456789/15436
AB  - The paper gives an overview of some characteristic features of the software support of the controller for the UMS-7 industrial robot. The software is intended for textual robot programming and is implemented on a microprocessor based system.
PB  - Moscow
C3  - Proceedings of the 3rd Soviet-Yugoslav Symposium on Robotics and Flexible Manufacturing, Moscow
T1  - A system for programming the UMS-7 industrial robot
SP  - 35
EP  - 43
UR  - https://hdl.handle.net/21.15107/rcub_dais_15436
ER  - 

@conference{
author = "Karan, Branko and Timotijević, Milija and Đurović, Milan and Devedžić, Vladan and Josifović, Nevena",
year = "1986",
abstract = "The paper gives an overview of some characteristic features of the software support of the controller for the UMS-7 industrial robot. The software is intended for textual robot programming and is implemented on a microprocessor based system.",
publisher = "Moscow",
journal = "Proceedings of the 3rd Soviet-Yugoslav Symposium on Robotics and Flexible Manufacturing, Moscow",
title = "A system for programming the UMS-7 industrial robot",
pages = "35-43",
url = "https://hdl.handle.net/21.15107/rcub_dais_15436"
}

Karan, B., Timotijević, M., Đurović, M., Devedžić, V.,& Josifović, N.. (1986). A system for programming the UMS-7 industrial robot. in Proceedings of the 3rd Soviet-Yugoslav Symposium on Robotics and Flexible Manufacturing, Moscow
Moscow., 35-43.
https://hdl.handle.net/21.15107/rcub_dais_15436

Karan B, Timotijević M, Đurović M, Devedžić V, Josifović N. A system for programming the UMS-7 industrial robot. in Proceedings of the 3rd Soviet-Yugoslav Symposium on Robotics and Flexible Manufacturing, Moscow. 1986;:35-43.
https://hdl.handle.net/21.15107/rcub_dais_15436 .

Karan, Branko, Timotijević, Milija, Đurović, Milan, Devedžić, Vladan, Josifović, Nevena, "A system for programming the UMS-7 industrial robot" in Proceedings of the 3rd Soviet-Yugoslav Symposium on Robotics and Flexible Manufacturing, Moscow (1986):35-43,
https://hdl.handle.net/21.15107/rcub_dais_15436 .