TY  - CONF
AU  - Vukićević, Mirjana
AU  - Najdanović, Dušan
AU  - Milovanović, Branko
AU  - Marošan, Stevan
PY  - 2014
UR  - https://grafar.grf.bg.ac.rs/handle/123456789/1198
AB  - This paper provides an assessment of empirical correlations between soil deformation parameters and tip resistance of cone penetrometer test (CPT), by comparing calculated settlements of an object on the rigid foundation slab with insitu measurements. Monitoring is conducted on a reinforced concrete building located in New Belgrade during the period of 10 years. Such measurements are valuable because they provide possibility to verify and improve existing methods and correlations as well as establishing new ones.
AB  - U radu je data ocena proračunskih metoda za procenu sleganja objekta na krutoj temeljnoj ploči na osnovu geodetskog osmatranja u periodu od 10 godina na jednom armiranobetonskom objektu na Novom Beogradu. S obzirom da su metode za proračun sleganja zasnovane, osim na teorijskoj mehanici i na empirijskim korelacijama sa parametrima deformabilnosti, ovakva merenja su dragocena jer pružaju mogućnost provere i unapređenja postojećih metoda i korelacija kao i uspostavljanje novih. Poređenje izmerenih i proračunskih sleganja na navedenom objektu je pokazalo da se dovoljno dobro mogu predvideti veličine sleganja na osnovu korelacija između parametara deformabilnosti i otpora konusa iz CPT opita.
PB  - Društvo građevinskih konstruktera, Beograd
C3  - Zbornik radova / DGKS Društvo građevinskih konstruktera Srbije, 14. kongres, Novi Sad, 24-26. oktobar, 2014
T1  - Assessment of settlement analysis methods based on the monitoring of building located in New Belgrade
T1  - Ocena metoda za proračun sleganja na osnovu geodetskog monitoringa na izvedenom objektu na Novom Beogradu
EP  - 148
SP  - 141
UR  - https://hdl.handle.net/21.15107/rcub_grafar_1198
ER  - 

@conference{
author = "Vukićević, Mirjana and Najdanović, Dušan and Milovanović, Branko and Marošan, Stevan",
year = "2014",
abstract = "This paper provides an assessment of empirical correlations between soil deformation parameters and tip resistance of cone penetrometer test (CPT), by comparing calculated settlements of an object on the rigid foundation slab with insitu measurements. Monitoring is conducted on a reinforced concrete building located in New Belgrade during the period of 10 years. Such measurements are valuable because they provide possibility to verify and improve existing methods and correlations as well as establishing new ones., U radu je data ocena proračunskih metoda za procenu sleganja objekta na krutoj temeljnoj ploči na osnovu geodetskog osmatranja u periodu od 10 godina na jednom armiranobetonskom objektu na Novom Beogradu. S obzirom da su metode za proračun sleganja zasnovane, osim na teorijskoj mehanici i na empirijskim korelacijama sa parametrima deformabilnosti, ovakva merenja su dragocena jer pružaju mogućnost provere i unapređenja postojećih metoda i korelacija kao i uspostavljanje novih. Poređenje izmerenih i proračunskih sleganja na navedenom objektu je pokazalo da se dovoljno dobro mogu predvideti veličine sleganja na osnovu korelacija između parametara deformabilnosti i otpora konusa iz CPT opita.",
publisher = "Društvo građevinskih konstruktera, Beograd",
journal = "Zbornik radova / DGKS Društvo građevinskih konstruktera Srbije, 14. kongres, Novi Sad, 24-26. oktobar, 2014",
title = "Assessment of settlement analysis methods based on the monitoring of building located in New Belgrade, Ocena metoda za proračun sleganja na osnovu geodetskog monitoringa na izvedenom objektu na Novom Beogradu",
pages = "148-141",
url = "https://hdl.handle.net/21.15107/rcub_grafar_1198"
}

Vukićević, M., Najdanović, D., Milovanović, B.,& Marošan, S.. (2014). Assessment of settlement analysis methods based on the monitoring of building located in New Belgrade. in Zbornik radova / DGKS Društvo građevinskih konstruktera Srbije, 14. kongres, Novi Sad, 24-26. oktobar, 2014
Društvo građevinskih konstruktera, Beograd., 141-148.
https://hdl.handle.net/21.15107/rcub_grafar_1198

Vukićević M, Najdanović D, Milovanović B, Marošan S. Assessment of settlement analysis methods based on the monitoring of building located in New Belgrade. in Zbornik radova / DGKS Društvo građevinskih konstruktera Srbije, 14. kongres, Novi Sad, 24-26. oktobar, 2014. 2014;:141-148.
https://hdl.handle.net/21.15107/rcub_grafar_1198 .

Vukićević, Mirjana, Najdanović, Dušan, Milovanović, Branko, Marošan, Stevan, "Assessment of settlement analysis methods based on the monitoring of building located in New Belgrade" in Zbornik radova / DGKS Društvo građevinskih konstruktera Srbije, 14. kongres, Novi Sad, 24-26. oktobar, 2014 (2014):141-148,
https://hdl.handle.net/21.15107/rcub_grafar_1198 .

TY  - JOUR
AU  - Najdanović, Dušan
AU  - Milosavljević, Branko
PY  - 2014
UR  - https://grafar.grf.bg.ac.rs/handle/123456789/608
AB  - The design procedure of capacity and ductility on the concrete columns with circular cross section depending on the amount of the confining reinforcement is presented in this paper. The stress-strain model in which the longitudinal compressive strain of the concrete at failure is corresponding to the first fracture of the transverse reinforcement, is presented. The cross section capacity and the ductility factor corresponding to the longitudinal force and stirup distance is analyzed. Use of the similar design procedure on concrete-filled steel tubular columns and in strengthening of columns using still straps or FRP is possible.
PB  - Union of Croatian Civil Engineers and Technicians
T2  - Građevinar
T1  - Strength and ductility of concrete confined circular columns
EP  - 423
IS  - 5
SP  - 417
VL  - 66
DO  - 10.14256/JCE.986.2013
ER  - 

@article{
author = "Najdanović, Dušan and Milosavljević, Branko",
year = "2014",
abstract = "The design procedure of capacity and ductility on the concrete columns with circular cross section depending on the amount of the confining reinforcement is presented in this paper. The stress-strain model in which the longitudinal compressive strain of the concrete at failure is corresponding to the first fracture of the transverse reinforcement, is presented. The cross section capacity and the ductility factor corresponding to the longitudinal force and stirup distance is analyzed. Use of the similar design procedure on concrete-filled steel tubular columns and in strengthening of columns using still straps or FRP is possible.",
publisher = "Union of Croatian Civil Engineers and Technicians",
journal = "Građevinar",
title = "Strength and ductility of concrete confined circular columns",
pages = "423-417",
number = "5",
volume = "66",
doi = "10.14256/JCE.986.2013"
}

Najdanović, D.,& Milosavljević, B.. (2014). Strength and ductility of concrete confined circular columns. in Građevinar
Union of Croatian Civil Engineers and Technicians., 66(5), 417-423.
https://doi.org/10.14256/JCE.986.2013

Najdanović D, Milosavljević B. Strength and ductility of concrete confined circular columns. in Građevinar. 2014;66(5):417-423.
doi:10.14256/JCE.986.2013 .

Najdanović, Dušan, Milosavljević, Branko, "Strength and ductility of concrete confined circular columns" in Građevinar, 66, no. 5 (2014):417-423,
https://doi.org/10.14256/JCE.986.2013 . .

TY  - JOUR
AU  - Najdanović, Dušan
AU  - Ćetković, Marina
PY  - 2008
UR  - https://grafar.grf.bg.ac.rs/handle/123456789/185
AB  - This paper presents basic characteristics of 'Beogradske elektrane' 120 m-height-chimney in Belgrade. The thermographic snapshot is made by infra-red rays camera indicating existence of unequal warmer and cooler zones as result of thermoinsulation damage. Design and analysis of static forces arising out of changes of temperature in wall of chimney by gases operation temperatures being higher than temperatures from original design, as well as static forces arising out of thermoinsulation damage, are indicating possible exceeding of ultimate strength in concrete and reinforcement of chimney wall. Therefore the methodology for surveying outer as wall as inner thermoinsulation surface of chimney wall is given in order to determine the state of essential elements of reinforced concrete structure of chimney and to define necessary retrofit intended to bring the system into operating state.
AB  - U radu su prikazane osnovne karakteristike dimnjaka Beogradskih elektrana u Beogradu visine 120 m. Prikazan je termografski snimak kamerom sa infracrvenim zracima koji je ukazivao da na dimnjaku postoje neravnomerne toplije i hladnije zone, što je ukazivalo na oštećenje termoizolacije. Proračun i analiza statičkih uticaja od temperaturnih promena u zidu dimnjaka pri radnim temperaturama gasova koje su više od proračunskih temperatura iz originalnog projekta, kao i statičkih uticaja koji nastaju u slučajevima oštećenja termoizolacije, ukazuju da može doći do ozbiljnih prekoračenja napona u betonu i armaturi zida dimnjaka. S tim u vezi data je metodologija pregleda spoljašnje površine zida dimnjaka, kao i pregled unutrašnje termoizolacije sa ciljem da se utvrdi stanje bitnih elemenata armiranobetonske konstrukcije dimnjaka i definišu potrebne sanacione mere kako bi se objekat doveo u ispravno stanje.
PB  - Udruženje inženjera građevinarstva, geotehnike, arhitekture i urbanista "Izgradnja", Beograd
T2  - Izgradnja
T1  - Thermal analysis of RC 120m-height chimney of JKP 'Beogradske elektrane'
T1  - Termička analiza AB dimnjaka visine 120m JKP 'Beogradske elektrane'
EP  - 432
IS  - 10-11
SP  - 425
VL  - 62
UR  - https://hdl.handle.net/21.15107/rcub_grafar_185
ER  - 

@article{
author = "Najdanović, Dušan and Ćetković, Marina",
year = "2008",
abstract = "This paper presents basic characteristics of 'Beogradske elektrane' 120 m-height-chimney in Belgrade. The thermographic snapshot is made by infra-red rays camera indicating existence of unequal warmer and cooler zones as result of thermoinsulation damage. Design and analysis of static forces arising out of changes of temperature in wall of chimney by gases operation temperatures being higher than temperatures from original design, as well as static forces arising out of thermoinsulation damage, are indicating possible exceeding of ultimate strength in concrete and reinforcement of chimney wall. Therefore the methodology for surveying outer as wall as inner thermoinsulation surface of chimney wall is given in order to determine the state of essential elements of reinforced concrete structure of chimney and to define necessary retrofit intended to bring the system into operating state., U radu su prikazane osnovne karakteristike dimnjaka Beogradskih elektrana u Beogradu visine 120 m. Prikazan je termografski snimak kamerom sa infracrvenim zracima koji je ukazivao da na dimnjaku postoje neravnomerne toplije i hladnije zone, što je ukazivalo na oštećenje termoizolacije. Proračun i analiza statičkih uticaja od temperaturnih promena u zidu dimnjaka pri radnim temperaturama gasova koje su više od proračunskih temperatura iz originalnog projekta, kao i statičkih uticaja koji nastaju u slučajevima oštećenja termoizolacije, ukazuju da može doći do ozbiljnih prekoračenja napona u betonu i armaturi zida dimnjaka. S tim u vezi data je metodologija pregleda spoljašnje površine zida dimnjaka, kao i pregled unutrašnje termoizolacije sa ciljem da se utvrdi stanje bitnih elemenata armiranobetonske konstrukcije dimnjaka i definišu potrebne sanacione mere kako bi se objekat doveo u ispravno stanje.",
publisher = "Udruženje inženjera građevinarstva, geotehnike, arhitekture i urbanista "Izgradnja", Beograd",
journal = "Izgradnja",
title = "Thermal analysis of RC 120m-height chimney of JKP 'Beogradske elektrane', Termička analiza AB dimnjaka visine 120m JKP 'Beogradske elektrane'",
pages = "432-425",
number = "10-11",
volume = "62",
url = "https://hdl.handle.net/21.15107/rcub_grafar_185"
}

Najdanović, D.,& Ćetković, M.. (2008). Thermal analysis of RC 120m-height chimney of JKP 'Beogradske elektrane'. in Izgradnja
Udruženje inženjera građevinarstva, geotehnike, arhitekture i urbanista "Izgradnja", Beograd., 62(10-11), 425-432.
https://hdl.handle.net/21.15107/rcub_grafar_185

Najdanović D, Ćetković M. Thermal analysis of RC 120m-height chimney of JKP 'Beogradske elektrane'. in Izgradnja. 2008;62(10-11):425-432.
https://hdl.handle.net/21.15107/rcub_grafar_185 .

Najdanović, Dušan, Ćetković, Marina, "Thermal analysis of RC 120m-height chimney of JKP 'Beogradske elektrane'" in Izgradnja, 62, no. 10-11 (2008):425-432,
https://hdl.handle.net/21.15107/rcub_grafar_185 .

TY  - CHAP
AU  - Najdanović, Dušan
AU  - Ćetković, Marina
PY  - 2008
UR  - https://grafar.grf.bg.ac.rs/handle/123456789/1874
AB  - This paper presents basic characteristics of ″Beogradske elektrane″ 120 m-height-chimney  in Belgrade. The thermographic snapshot is made by infra-red rays camera indicating existence of unequal warmer and cooler zones as result of thermoinsulation damage. Design and analysis of static forces arising out of changes of temperature  in wall of chimney by gases operation temperatures being higher than  temperatures from original design, as well as static forces arising out of thermoinsulation damage, are indicating possible   exceeding of ultimate strength in  concrete and reinforcement of   chimney wall. Therefore,  the methodology for surveying outer as wall as inner thermoinsulation surface of chimney wall  is given in order to determine the state of essential elements of reinforced concrete structure of chimney and to define necessary retrofit intended to bring the system into the operating state.
AB  - U radu su prikazane osnovne karakteristike dimnjaka Beogradskih elektrana u Beogradu visine 120 m. Prikazan je termografski snimak kamerom sa infracrvenim zracima koji je ukazivao da na dimnjaku postoje neravnomerne toplije i hladnije zone, što je ukazivalo na oštećenje termoizolacije. Proračun i analiza statičkih uticaja od temperaturnih promena u zidu dimnjaka pri radnim temperaturama gasova koje su više od proračunskih temperatura iz originalnog projekta, kao i statičkih uticaja koji nastaju u slučajevima oštećenja termoizolacije, ukazuju da može doći do ozbiljnih prekoračenja napona u betonu i armaturi zida dimnjaka. S tim u vezi data je metodologija pregleda spoljašnje površine zida dimnjaka, kao i pregled unutrašnje termoizolacije sa ciljem da se utvrdi stanje bitnih elemenata armirano betonske konstrukcije dimnjaka i definišu potrebne sanacione mere, kako bi se objekat doveo u ispravno stanje.
PB  - Faculty of Civil Engineering of the University of Belgrade─Chair for Technical Mechanics and Theory of structures
PB  - Građevinski fakultet Univerziteta u Beogradu─Katedra za Tehničku mehaniku i teoriju konstrukcija
T2  - Theory of Structures─Monograph dedicated to the memory of late academician Professor dr Milan Đurić
T1  - Thermal Analysis of RC 120m-height chimney of JKP „Beogradske elektrane“
T1  - Termička analiza ab dimnjaka visine 120 m JKP „Beogradske elektrane”
EP  - 124
SP  - 117
UR  - https://hdl.handle.net/21.15107/rcub_grafar_1874
ER  - 

@inbook{
author = "Najdanović, Dušan and Ćetković, Marina",
year = "2008",
abstract = "This paper presents basic characteristics of ″Beogradske elektrane″ 120 m-height-chimney  in Belgrade. The thermographic snapshot is made by infra-red rays camera indicating existence of unequal warmer and cooler zones as result of thermoinsulation damage. Design and analysis of static forces arising out of changes of temperature  in wall of chimney by gases operation temperatures being higher than  temperatures from original design, as well as static forces arising out of thermoinsulation damage, are indicating possible   exceeding of ultimate strength in  concrete and reinforcement of   chimney wall. Therefore,  the methodology for surveying outer as wall as inner thermoinsulation surface of chimney wall  is given in order to determine the state of essential elements of reinforced concrete structure of chimney and to define necessary retrofit intended to bring the system into the operating state., U radu su prikazane osnovne karakteristike dimnjaka Beogradskih elektrana u Beogradu visine 120 m. Prikazan je termografski snimak kamerom sa infracrvenim zracima koji je ukazivao da na dimnjaku postoje neravnomerne toplije i hladnije zone, što je ukazivalo na oštećenje termoizolacije. Proračun i analiza statičkih uticaja od temperaturnih promena u zidu dimnjaka pri radnim temperaturama gasova koje su više od proračunskih temperatura iz originalnog projekta, kao i statičkih uticaja koji nastaju u slučajevima oštećenja termoizolacije, ukazuju da može doći do ozbiljnih prekoračenja napona u betonu i armaturi zida dimnjaka. S tim u vezi data je metodologija pregleda spoljašnje površine zida dimnjaka, kao i pregled unutrašnje termoizolacije sa ciljem da se utvrdi stanje bitnih elemenata armirano betonske konstrukcije dimnjaka i definišu potrebne sanacione mere, kako bi se objekat doveo u ispravno stanje.",
publisher = "Faculty of Civil Engineering of the University of Belgrade─Chair for Technical Mechanics and Theory of structures, Građevinski fakultet Univerziteta u Beogradu─Katedra za Tehničku mehaniku i teoriju konstrukcija",
journal = "Theory of Structures─Monograph dedicated to the memory of late academician Professor dr Milan Đurić",
booktitle = "Thermal Analysis of RC 120m-height chimney of JKP „Beogradske elektrane“, Termička analiza ab dimnjaka visine 120 m JKP „Beogradske elektrane”",
pages = "124-117",
url = "https://hdl.handle.net/21.15107/rcub_grafar_1874"
}

Najdanović, D.,& Ćetković, M.. (2008). Thermal Analysis of RC 120m-height chimney of JKP „Beogradske elektrane“. in Theory of Structures─Monograph dedicated to the memory of late academician Professor dr Milan Đurić
Faculty of Civil Engineering of the University of Belgrade─Chair for Technical Mechanics and Theory of structures., 117-124.
https://hdl.handle.net/21.15107/rcub_grafar_1874

Najdanović D, Ćetković M. Thermal Analysis of RC 120m-height chimney of JKP „Beogradske elektrane“. in Theory of Structures─Monograph dedicated to the memory of late academician Professor dr Milan Đurić. 2008;:117-124.
https://hdl.handle.net/21.15107/rcub_grafar_1874 .

Najdanović, Dušan, Ćetković, Marina, "Thermal Analysis of RC 120m-height chimney of JKP „Beogradske elektrane“" in Theory of Structures─Monograph dedicated to the memory of late academician Professor dr Milan Đurić (2008):117-124,
https://hdl.handle.net/21.15107/rcub_grafar_1874 .

TY  - CONF
AU  - Ćetković, Marina
AU  - Najdanović, Dušan
PY  - 2007
UR  - https://grafar.grf.bg.ac.rs/handle/123456789/1897
AB  - This paper deals with the thermal analysis of 120m high, RC chimney. The aim of the study is to find the distribution of internal forces caused by thermal loads, resulting from the difference among the ambient and the operating temperature. Namely, during the operating process, the higher temperature regime than those in the main design, has caused the thermo insulation damage, indicating the possible exceeding of ultimate strength in the concrete and reinforcement of chimney wall. It was assumed that temperature variation is uniform over the surface and linearly varying through the thickness of the chimney. Numerical analysis is performed using four-node shell element and the commercial program SAP2000. The finite element model is verified comparing the results of the thermal analysis with the available ones in the literature. The study shows that thermal radial forces and radial moments, obtained by the higher operating temperatures, are greater then the one in the original design. Furthermore these forces can cause cracks in vertical direction, so appropriate retrofit measures are to be applied.
PB  - Macedonian Association of Structural Engineers, Faculty of Civil Engineering, Macedonia
C3  - Proceedings of the 12-th International Symposium of MASE, Macedonia, 2007
T1  - Thermal Analysis of 120m high RC Chimney
EP  - 650
SP  - 645
UR  - https://hdl.handle.net/21.15107/rcub_grafar_1897
ER  - 

@conference{
author = "Ćetković, Marina and Najdanović, Dušan",
year = "2007",
abstract = "This paper deals with the thermal analysis of 120m high, RC chimney. The aim of the study is to find the distribution of internal forces caused by thermal loads, resulting from the difference among the ambient and the operating temperature. Namely, during the operating process, the higher temperature regime than those in the main design, has caused the thermo insulation damage, indicating the possible exceeding of ultimate strength in the concrete and reinforcement of chimney wall. It was assumed that temperature variation is uniform over the surface and linearly varying through the thickness of the chimney. Numerical analysis is performed using four-node shell element and the commercial program SAP2000. The finite element model is verified comparing the results of the thermal analysis with the available ones in the literature. The study shows that thermal radial forces and radial moments, obtained by the higher operating temperatures, are greater then the one in the original design. Furthermore these forces can cause cracks in vertical direction, so appropriate retrofit measures are to be applied.",
publisher = "Macedonian Association of Structural Engineers, Faculty of Civil Engineering, Macedonia",
journal = "Proceedings of the 12-th International Symposium of MASE, Macedonia, 2007",
title = "Thermal Analysis of 120m high RC Chimney",
pages = "650-645",
url = "https://hdl.handle.net/21.15107/rcub_grafar_1897"
}

Ćetković, M.,& Najdanović, D.. (2007). Thermal Analysis of 120m high RC Chimney. in Proceedings of the 12-th International Symposium of MASE, Macedonia, 2007
Macedonian Association of Structural Engineers, Faculty of Civil Engineering, Macedonia., 645-650.
https://hdl.handle.net/21.15107/rcub_grafar_1897

Ćetković M, Najdanović D. Thermal Analysis of 120m high RC Chimney. in Proceedings of the 12-th International Symposium of MASE, Macedonia, 2007. 2007;:645-650.
https://hdl.handle.net/21.15107/rcub_grafar_1897 .

Ćetković, Marina, Najdanović, Dušan, "Thermal Analysis of 120m high RC Chimney" in Proceedings of the 12-th International Symposium of MASE, Macedonia, 2007 (2007):645-650,
https://hdl.handle.net/21.15107/rcub_grafar_1897 .

TY  - CONF
AU  - Stošić, Saša
AU  - Najdanović, Dušan
PY  - 1989
UR  - https://grafar.grf.bg.ac.rs/handle/123456789/3019
AB  - This article presents an algorithm for the analysis of planar reinforced concrete frames. It takes Into consideration the effects of nonlinear stress-strain relationship In concrete and contribution of the tensioned concrete between cracks. Time-dependent effects are analyzed using the principle of linearity for creep. The computer program was developed and the results of some analyses are presented here.
PB  - Savez društva građevinskih konstruktera Jugoslavije
C3  - Savez društva građevinskih konstruktera Jugoslavije - Simpozijum, 25-27. april, 1989.
T1  - An algorythm for nonlinear analysis of the reinforced concrete frames
EP  - 299
SP  - 294
VL  - R
UR  - https://hdl.handle.net/21.15107/rcub_grafar_3019
ER  - 

@conference{
author = "Stošić, Saša and Najdanović, Dušan",
year = "1989",
abstract = "This article presents an algorithm for the analysis of planar reinforced concrete frames. It takes Into consideration the effects of nonlinear stress-strain relationship In concrete and contribution of the tensioned concrete between cracks. Time-dependent effects are analyzed using the principle of linearity for creep. The computer program was developed and the results of some analyses are presented here.",
publisher = "Savez društva građevinskih konstruktera Jugoslavije",
journal = "Savez društva građevinskih konstruktera Jugoslavije - Simpozijum, 25-27. april, 1989.",
title = "An algorythm for nonlinear analysis of the reinforced concrete frames",
pages = "299-294",
volume = "R",
url = "https://hdl.handle.net/21.15107/rcub_grafar_3019"
}

Stošić, S.,& Najdanović, D.. (1989). An algorythm for nonlinear analysis of the reinforced concrete frames. in Savez društva građevinskih konstruktera Jugoslavije - Simpozijum, 25-27. april, 1989.
Savez društva građevinskih konstruktera Jugoslavije., R, 294-299.
https://hdl.handle.net/21.15107/rcub_grafar_3019

Stošić S, Najdanović D. An algorythm for nonlinear analysis of the reinforced concrete frames. in Savez društva građevinskih konstruktera Jugoslavije - Simpozijum, 25-27. april, 1989.. 1989;R:294-299.
https://hdl.handle.net/21.15107/rcub_grafar_3019 .

Stošić, Saša, Najdanović, Dušan, "An algorythm for nonlinear analysis of the reinforced concrete frames" in Savez društva građevinskih konstruktera Jugoslavije - Simpozijum, 25-27. april, 1989., R (1989):294-299,
https://hdl.handle.net/21.15107/rcub_grafar_3019 .