Human localization in robotized warehouses based on stereo odometry and ground-marker fusion

Extended Kalman filter for payload state estimation utilizing aircraft inertial sensing

Ensemble of LSTMs and feature selection for human action prediction

Trajectory Optimization with Geometry-Aware Singularity Avoidance for Robot Motion Planning

Human Localization in Warehouse Environments based on a Wearable Camera Sensor Suite and Dynamic Ultra-Wide Band Nodes

A Continuous-Time Approach for 3D Radar-to-Camera Extrinsic Calibration

A Riemannian metric for geometry-aware singularity avoidance by articulated robots

Mobile Robot Teleoperation via Android Mobile Device with UDP Communication

Depth from Mono Accuracy Analysis by Changing Camera Parameters in the CARLA simulator

A Comparison of Graph Optimization Approaches for Pose Estimation in SLAM

Multi-Target Tracking on Riemannian Manifolds via Probabilistic Data Association

Recalibrating the KITTI Dataset Camera Setup for Improved Odometry Accuracy

Feature-based Event Stereo Visual Odometry

Active vision for 3D indoor scene reconstruction using a 3D camera on a pan-tilt mechanism

Stereo Dense Depth Tracking Based on Optical Flow using Frames and Events

Online Multi-Sensor Calibration Based on Moving Object Tracking

Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking

Drivable path planning using hybrid search algorithm based on E* and Bernstein-Bezier motion primitives

Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization

State and parameter estimation of suspended load using quadrotor onboard sensors

Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis

Estimation and observability analysis of human motion on Lie groups

Human Intention Recognition for Human Aware Planning in Integrated Warehouse Systems

Gaussian Processes Incremental Inference for Mobile Robots Dynamic Planning

Visual Place Recognition using Directed Acyclic Graph Association Measures and Mutual Information-based Feature Selection

Fast Manipulability Maximization Using Continuous-Time Trajectory Optimization

Extrinsic 6DoF Calibration of a Radar-LiDAR- Camera System Enhanced by Radar Cross Section Estimates Evaluation

Human Motion Prediction Framework for Safe Flexible Robotized Warehouses

Stereo Event Lifetime and Disparity Estimation for Dynamic Vision Sensors

Open Platform Based Mobile Robot Control for Automation in Manufacturing Logistics

Control architecture of a remotely controlled vehicle in extreme CBRNE conditions

Autonomous Navigation of Mobile Robots in Complex Dynamic Environments

Pedestrian Tracking by Probabilistic Data Association and Correspondence Embeddings

Manipulability Maximization Using Continuous-Time Gaussian Processes

Exactly Sparse Delayed State Filter on Lie groups for Long-term Pose Graph SLAM

Computationally efficient dense moving object detection based on reduced space disparity estimation

SOFT-SLAM: Computationally Efficient Stereo Visual SLAM for Autonomous UAVs

Path Planning for Active SLAM Based on the D* Algorithm With Negative Edge Weights

Mobile robot navigation for complete coverage of an environment

Time-Optimal Velocity Planning Along Predefined Path for Static Formations of Mobile Robots

Fast planar surface 3D SLAM using LIDAR

Extended Information Filter on Matrix Lie Groups

Score matching based assumed density filtering with the von Mises-Fisher distribution

Human motion estimation on Lie groups using IMU measurements

Extrinsic 6DoF Calibration of 3D LiDAR and Radar

Mixture Reduction on Matrix Lie Groups

Cooperative Cloud SLAM on Matrix Lie Groups

Human Intention Recognition in Flexible Robotized Warehouses based on Markov Decision Processes

Dense Disparity Estimation in Ego-motion Reduced Search Space

Revival of filtering based SLAM? Exactly sparse delayed state filter on Lie groups

Istraživanje percepcije okoline višesenzorskim sustavom

Receding Horizon Control for Convergent Navigation of a Differential Drive Mobile Robot

Detailed octorotor modeling and PD control

UrbanWater platforma za gospodarenje vodoopskrbnim sustavom - koncept i implementacija

Full Body Human Motion Estimation on Lie Groups Using 3D Marker Position Measurements

Predviđanje potrošnje i dinamičko određivanje cijene vode

Short-Term Map Based Detection and Tracking of Moving Objects with 3D Laser on a Vehicle

Multitarget tracking with the von Mises-Fisher filter and probabilistic data association

Radar and stereo vision fusion for multitarget tracking on the special Euclidean group

On wrapping the Kalman filter and estimating with the SO(2) group

Moving object tracking employing rigid body motion on matrix Lie groups

Algorithms for the detection of moving objects utilizing lidar sensors and stereo camera

Simultaneous localization and mapping algorithm based on exactly sparse delayed state filter implemented using Lie groups

Robot arm teleoperation via RGBD sensor palm tracking

Materijali za seminar iz automatizacije postrojenja za sudionike iz industrije – osnovni stupanj

Materijali za seminar iz automatizacije postrojenja za sudionike iz industrije – napredni stupanj

Inteligentni sustavi upravljanja: Neuronske mreže i genetički algoritmi u upravljanju sustavima

Nonlinear Model Predictive Control for Energy Efficient Housing with Modern Construction Materials

Appearance based vehicle detection by radar-stereo vision integration

Moving Objects Detection Using a Thermal Camera and IMU on a Vehicle

Place recognition based on matching of planar surfaces and line segments

Implicit Observation Model for Vision Aided Inertial Navigation of Aerial Vehicles Using Single Camera Vector Observations

Von Mises Mixture PHD Filter

Stereo odometry based on careful feature selection and tracking

Izrada računalnog programa za predviđanje satne potrošnje i gubitaka električne energije u distribucijskoj mreži

Real-time Approximation of Clothoids with Bounded Error for Path Planning Applications

Composite distance based approach to von Mises mixture reduction

Moving object detection, tracking and following using an omnidirectional camera on a mobile robot

Tracking of multiple moving objects on the unit sphere using a multiple-camera system on a mobile robot

Direction-only tracking of moving objects on the unit sphere via probabilistic data association

Detection and tracking of dynamic objects using 3D laser range sensor on a mobile platform

Bayesian Sensor Fusion Methods for Dynamic Object Tracking - A Comparative Study

Cooperative control of heterogeneous robotic systems

Autonomous Exploration of Large Unknown Indoor Environments for Dense 3D Model Building

A mobile robot based system for fully automated thermal 3D mapping

Fast Active SLAM for Accurate and Complete Coverage Mapping of Unknown Environments

A Leader-Follower Approach to Formation Control of Multiple Non-Holonomic Mobile Robots

Minimum Startup Delay Approach to Coordination of Multiple Mobile Robots Motion Along Predefined Paths

Learning control for positionally controlled manipulators

Procesna automatizacija

Concept of an intrabody networked brain-computer interface controlled assistive robotic system

Global Localization Based on 3D Planar Surface Segments

Partial Mutual Information Based Input Variable Selection for Supervised Learning Approaches to Voice Activity Detection

Development and Testing of Small Aerial Vehicles with Redundant Number of Rotors

Inertial aided sensor platform stabilization for multirotor aerial vehicles

Efficient Navigation for Anyshape Holonomic Mobile Robots in Dynamic Environments

Bias Estimation and Calibration of a Pair of Laser Range Sensors

Fast Pose Tracking Based on Ranked 3D Planar Patch Correspondences

Autotuning Power System Stabilizer based on Fuzzy Plant Model

Longitudinal Spacing Control of Vehicles in a Platoon for Stable and Increased Traffic Flow

Proceedings of the 10th IFAC Symposium on Robot Control - IFAC SYROCO 2012

Active Suppression of Low-frequency Interference Currents by Implementation of the High-performance Control System for the Grid-interfaced ConvertersSystem for the Grid-interfaced Converters

Comparison of Statistical Model-Based Voice Activity Detectors for Mobile Robot Speech Applications

Bearing-Only Tracking with a Mixture of von Mises Distributions

Complete coverage path planning of mobile robots for humanitarian demining

Motion Planning of Mobile robots for Humanitarian demining

Efficient Interpolated Path Planning of Mobile Robots based on Occupancy Grid Maps

The Project ThermalMapper - Thermal 3D Mapping of Indoor Environments for Saving Energy

Viši strujni i naponski harmonici i kompenzacija jalove električne energije

Two-way D* algorithm for path planning and replanning

Special issue ECMR 2009

An Improved CamShift Algorithm Using Stereo Vision For Object Tracking

Time-Optimal Trajectory Planning Along Predefined Path for Mobile Robots with Velocity and Acceleration Constraints

Path Smoothing Using Clothoids for Differential Drive Mobile Robots

Embedded computer control system for service mobile robots

A visibility graph based method for path planning in dynamic environments

Introducing Model-Based Techniques into Development of Real-Time Embedded Applications

Explicit Model Predictive Control for Trajectory Tracking with Mobile Robots

Generalization of 2D SLAM observability condition

Optical Flow Field Segmentation in an Omnidirectional Camera Image Based on Known Camera Motion

Real-Time Detection of Moving Objects by a Mobile Robot with an Omnidirectional Camera

People Tracking with Heterogeneous Sensors using JPDAF with Entropy Based Track Management

Hierarchical path planning of mobile robots in complex indoor environments

Avoiding deadlocks of mobile robots in narrow passages of environments populated with moving obstacles

Exploration and Mapping of Unknown Polygonal Environments Based on Uncertain Range Data

Complete Coverage D* Algorithm for Path Planning of a Floor-Cleaning Mobile Robot

The Path Planning Algorithms for a Mobile Robot based on the Occupancy Grid Map of the Environment — A Comparative Study

Matematički modeli kratkoročnog predviđanja satne potrošnje električne energije za distribucijska područja

Upravljanje neholonomskim mobilnim robotima s diferencijalnim pogonom

Experimental comparison of AdaBoost algorithms applied on Leg Detection with Different Range Sensor Setups

Mobile robot pose tracking by correlation of laser range finder scans in Hough domain

Primjena programskog paketa Matlab u razvoju autonomnih transportnih sustava

Sliding mode based load-frequency control in power systems

Applying optimal sliding mode based load-frequency control in power systems with controllable hydro power plants

Neuronski matematički model za predviđanje potrošnje plina

Primjena programskog sustava MATLAB za rješavanje tehničkih problema

Exactly Sparse Delayed State Filter based robust SLAM with Stereo Vision

Applying von Mises Distribution to Microphone Array Probabilistic Sensor Modelling

Speaker localization and tracking with a microphone array on a mobile robot using von Mises distribution and particle filtering

Autonomno planiranje gibanja stroja za čišćenje podova

Model based Kalman Filter Mobile Robot Self-Localization

Modelling of Mobile Robot Dynamics

Experimental Investigations and Modeling of the Rubber-Asphalt Sliding Pair Dynamics

Internet Based Teleoperation for Cooperative Navigation and Manipulation

The comparison of Matlab/Simulink and proprietary code generator efficiency

A Takagi-Sugeno Fuzzy Model of Synchronous generators

Implementation of Fuzzy-Model Based Autotuning Power System Stabilizer

Proceedings of the 4th European Conference on Mobile Robots - ECMR 2009

Experimental Comparison of Trajectory Tracking Algorithms for Nonholonomic Mobile Robots

Stereo Image Registration Based on RANSAC with Selective Hypothesis Generation

Geometrically Constrained RANSAC for Stereo Image Registration in Presence of High Ambiguity in Feature Correspondence

Extending functionality of RF Ultrasound positioning system with dead-reckoning to accurately determine mobile robot’ s orientation

RANSAC-Based Stereo Image Registration with Geometrically Constrained Hypothesis Generation

Speaker Localization and Tracking in Mobile Robot Environment Using a Microphone Array

Distance Keeping for Underwater Vehicles - Tuning Kalman Filters Using Self-Oscillations

Integration of Focused D* and Witkowski's algorithm for path planning and replanning

Improvement of Map Building during the Exploration of Polygonal Environments using the Range Data

Experimental comparison of sonar based occupancy grid mapping methods

Robotics in Edutainment: Robot Soccer

Neural network based tire/road friction force estimation

Novi pristup regulaciji, nadzoru i održavanju javne rasvjete grada Zagreba

Novi pristup regulaciji, nadzoru i održavanju javne rasvjete

Automatic Creation of Hierarchical Maps for Indoor Environments

Tracking Multiple Moving Objects Using Adaptive Sample-based Joint Probabilistic Data Association Filter

Robust and accurate global vision system for real time tracking of multiple mobile robots

Eksperimentalni postav za automatsko umjeravanje odometrijskog sustava mobilnih robota

Teleoperation Of Collaborative Mobile Robots With Force Feedback Over Internet

Wavelet-Based Edge Detection for Robot Vision Applications

Dynamic Window based Force Reflection for Safe Teleoperation of A Mobile Robot via Internet

Some Issues of Microprocessor-based Power System Stabilizer Implementation

Global Vision Based Tracking of Multiple Mobile Robots in Subpixel Precision

Platform based development of embedded systems for traction and power engineering applications - experiences and challenges

Two approaches to mobile robots simulator design

Hybrid Theory Based Time-Optimal Control of an Electronic Throttle

Damping of Wind Turbine Tower Oscillations through Rotor Speed Control

Estimation and Prediction in Load-frequency Control

Design of a Wind Turbine Pitch Controller for Loads and Fatigue Reduction

Mobile robot self-localization in complex indoor environments using monocular vision and 3D model

Dynamic window based approach to mobile robot motion control in the presence of moving obstacles

Simple off-line Odometry Calibration of Differential Drive Mobile Robots

Correlation based approach to mobile robot pose tracking in unknown environments

Localisation of Mobile Robots by Tracking Identical Colour Markers

Vision system design for accurate pose tracking of multiple mobile robots

Global Vision Based Tracking of Multiple Mobile Robots

Parquet Sorting and Grading Based on Color and Texture Analyses

Tensor Product Model Transformation-based Controller Design for Gantry Crane Control System – An Application Approach

Constrained Optimal Control of an Electronic Throttle

Identification of Wind Turbine Model for Controller Design

Discrete-Time Sliding Mode Control of Load Frequency in Power Systems with Input Delay

Primjena kliznih režima u sekundarnoj regulaciji frekvencije i snage razmjene

An Algorithm for Deadlock Prevention Based on Iterative Siphon Control of Petri net

AMORsim - A Mobile Robot Simulator for Matlab

Mobile Robot Localization using Local Occupancy Grid Maps Transformations

Mobile Robot Localization using Soft-reduced Hypotheses Tracking

Supervised tracking of a mobile robot team

Mobile robots tracking using computer vision

Sustavi za daljinsko vođenje i distribuirano upravljanje

Mobile robots tracking using computer vision

Neural Network Based Sliding Mode Control of Electronic Throttle

Hybrid Theory Based Time-Optimal Control of an Electronic Throttle

Experimental Investigations of a Direct Adaptive Neurofuzzy Controller

Neki aspekti pouzdanosti i održavanja javne rasvjete

Proceedings of the International Symposium on Industrial Electronics - ISIE 2005

Slijedni sustavi - Odabrani radovi

Primjena kontinuum regresije za modeliranje procesa na temelju pogonskih podataka

Prijedlog pravilnika za odabir predspojnih naprava u sustavu javne rasvjete Grada Zagreba

Prijedlog programa održavanja javne rasvjete Grada Zagreba

Regulacija sustava javne rasvjete grada Zagreba

Kalman Filter Theory Based Mobile Robot Pose Tracking Using Occupancy Grid Maps

Improvement of an Extended Kalman Filter based Mobile Robot Localization

Experimental Evaluation of Occupancy Grid Map Improvement by Sonar Data Corrections

An implementation of the triangulation based fusion mapping algorithm

Sonar-based self-orientation of indoor mobile robots

Histogram Based Mobile Robot Localization

Proposal of Hypotheses Association for Mobile Robot Localization

An Integrated Approach to Real-Time Mobile Robot Control in Partially Known Indoor Environments

Motion Control of Mobile Robots in Indoor Dynamic Environments

A control method for stable and smooth path following of mobile robots

An Approach to Motion Planning of Mobile Robots Considering Dynamic Constraints

Comparison of Two Trajectory Planning Methods for Mobile Robots

Čovjekoliki roboti i robotizirano društvo

Electronic Throttle State Estimation and Hybrid Theory Based Optimal Control

NEURAL NETWORK BASED SLIDING MODE CONTROL OF ELECTRONIC THROTTLE

Modelling of Transport Delay on ETHERNET Communications Networks

Deadlock Prevention in Manufacturing Systems Based on Petri Nets

Time-optimal Model Predictive Control for Electronic Throttle Reference Tracking

Time-optimal Model Predictive Control for Electronic Throttle Reference Tracking - Experimental Results

Time-optimal Model Predictive Control for Electronic Throttle Reference Tracking - Experimental Results 2

Inteligentno upravljanje sustavima - Neuronsko i evolucijsko upravljanje

Računalno upravljanje sustavima

Regulacija sustava javne rasvjete grada Zagreba

Regulacija sustava javne rasvjete grada Zagreba

Extended Kalman Filter based Mobile Robot Pose Tracking using Occupancy Grid Maps

Hough Transform based Correction of Mobile Robot Orientation

Sonar-based Pose Tracking of Indoor Mobile Robots

An Integrated Approach to Motion Planning of Mobile Robots

Speculative trading strategy of buying crude oil for refinery on spot market

Mobilna robotika

A Trajectory Tracking Controller For Mobile Robot With Differential Drive

Estimation of lube oil viscosities on a vacuum distillation column

Od industrijskih do uslužnih robota

Inteligentni mjerni sustavi u automatizaciji procesa

Inteligentni mjerni sustavi u automatizaciji procesa - bilješke za predavanja

Inteligentni estimatori

Hybrid Theory Based Model Predictive Control of Electrical Drives with Friction

Application of the RBF neural network for tire-road friction estimation

Longitudinal Ventilation Control System in Road Tunnels

State Estimation of an Electronic Throttle Body

Navigation of mobile robots in indoor environments - state of the art and future directions

Application of Extended Kalman Filter for Road Condition Estimation

Application of the RBF neural network for tire/road friction force estimation

Road condition estimation based on the tire vibration model- preliminary analysis

An approach to odometry calibration of differential drive mobile robots

Improvements of Occupancy Grid Maps by Sonar Data Corrections

An approach to motion planning of indoor mobile robots

Machine Vision Based Control of the Ball and Beam

Application of the extended Kalman filter for road condition estimation

ATM Available Bit Rate Congestion Control with On-Line Network Model Identification

A Petri Net Approach of Deadlock Prevention in Batch Processes in Case of Failure

Fuzzy Model Predictive Control of Electrical Drives with Transmission Elasticity and Backlash

Application of extended Kalman filter for road condition estimation

Toolkit for PID Dominant Pole Design

Experimental investigations of the rubber-asphalt sliding pair dynamics

Neural Network Based Sliding Mode Controller for a Class of Linear Systems with Unmatched Uncertainties

Model Predictive Control of Electronic Throttle

Adaptive Control Based on Fuzzy Process Model with Estimation of Premise Variables

Neural Network Based Correction of Odometry Errors in Mobile Robots

A reinforcement learning approach to obstacle avoidance of mobile robots

Synchronization of several feedback control loops closed over a common communication network

Convex Optimization in Training of CMAC Neural Networks

Application of Fuzzy Neural Networks in Predictive Control of Batch Distillation

Fuzzy Model Predictive Control of Electrical Drives with Transmission Elasticity and Backlash

Selftuning PID Controller Based on the Estimation of Process Ultimate Point

Neural Network Based Predictive Control of Electrical Drives with Elastic Transmission and Backlash

Znanstveni projekt:Procesna automatizacija uz primjenu novih metoda upravljanja

Convex Optimization in Training of CMAC Neural Networks

CMAC neuronske mreže u upravljanju elektromotornim pogonima sa izraženom elastičnošću i zračnošću

Procesna mjerenja - predavanja

Istraživanje i razvoj novih metoda i struktura upravljanja procesima

The concept of virtual laboratory for automatic control at FEEC Zagreb

Application of a neural predictive controller in boost converter input current control

Neural control of boost converters' input current

Modification and application of autotuning PID controller

Laboratory Model of a Two-axis Positioning and Tracking Servosystem Carried Out by Utilization of an A.P.C. Turret

Decoupling Multivariable GPC With Reference Observation

Regularization and validation of neural network models of nonlinear systems

Virtual Laboratory for Automatic Control and Supervision - Challenges and Opportunities

Model structure selection for nonlinear system identification using feedforward neural networks

Automatizacija postrojenja i procesa

Indentifikacija procesa

Slijedni sustavi s izraženom elastičnošću, zračnošću i trenjem

Pole Placement Controller Design Based on Fuzzy Process Model

Identifikacija procesa - predavanja

A Knowledge-Base Generating Fuzzy-Neural Controller

Self-Tuning Controller Based On Process Fuzzy Model

Generalized Predictive Controller Applied in Boost Converter Input Current Control

Inteligentno upravljanje procesima - II. dio

Razvoj i eksperimentalna istraživanja kompenzacije učinaka elastičnosti, trenja i zračnosti u prijenosnim mehanizmima slijednih sustava

Pokazni model slijednog sustava pravca i visine

Towards Industrial Autotuning Controller

A Neuro-predictive Controller for Industrial Processes

Some practical aspects of control engineering education

Modernizacija elektromotornog pogona crpki napojne vode kotla termoelektrane

Upravljanje sustavima vodoopskrbe i odvodnje urbanih sredina

Automatizacija postrojenja i procesa - upute za laboratorijske vježbe

Autotuning PID controller with supervision shell

Fuzzy control of a water supply system

An Efficient Newton-type learning Algorithm for MLP Neural Networks

A Cascade-Correlation Learning Network with Smoothing

Comparison of the Self-Tuning Generalised Predictive Controller and Pole Placement Controller

Modelling and control of water supply systems

Fuzzy Control of a Water Supply System

Automatsko upravljanje - upute za laboratorijske vježbe

A Method Of PID Controller Autotuning

Mjerenje i obradba procesnih veličina na vodocrpilištu Petruševac

Comparison of Several Recursive Identification Methods

The Calculation Of Energy Savings That Can Be Achieved By Variable Speed Pump Drives

Comparison of Several Recursive Identification Methods

A Material Velocity And Path Measurement System In Continuous Rolling Mills

Analiza mogućnosti modernizacije upravljanja elektromotornim pogonima napojnih crpki kotla i pripadajućeg im sustava automatizacije u TE Rijeka

Control System for Reuse of Wasted Hot Air in a Coffee Roasting Furnace

Liquid-Level Control by Means of Self-Tuning PI Controller

Identifikacija procesa - Upute za projektni zadatak

Primjena komunikacijskih standarda u industrijskim elektromotornim pogonima i sustavima automatizacije

Primjena komunikacijskih standarda u industrijskim elektromotornim pogonima i sustavima automatizacije

Koncepcija mikroprocesorskog sustava regulacije vučne sile lokomotive s asinkronim vučnim motorima

Koncepcija mikroprocesorskog sustava regulacije vučne sile lokomotive s asinkronim vučnim motorima

Frekvencijski pretvarač za upravljanje trofaznim asinkronim kaveznim motorima

Prijedlog koncepcije upravljanja asinkronim pogonima srednjih i velikih snaga zasnovanog na procesoru signala

Idejno rješenje modula za vektorsku regulaciju asinkronog pogona zasnovanog na procesoru signala TMS320C30 i VME sabirnici

Idejni projekt sustava za statička ispitivanja raketnog motora M’ 91

Mikroprocesorski sustav za optimalno siječenje valjanog materijala na kontinuiranim valjačkim prugama

Idejna koncepcija sustava regulacije vučne sile i protuklizne zaštite u vozilima na tračnicama

Flying Shear Control System

Sustav za mjerenje brzine i prijeđenog puta materijala u kontinuiranim valjačkim prugama

Automatizirani sustavi u elektrostrojarstvu i energetici

Siječenje valjanih gredica na kontinuiranim prugama uz minimizaciju otpadnog materijala

Tehno-ekonomska analiza rekonstrukcije sustava upravljanja postrojenjem letećih škara 1, 0 i 2, 5 MN na konti pruzi 850 u Željezari Zenica

Flying Shear Control System

Sustav za pozicioniranje noževa postrojenja letećih škara 1MN

Analiza i sinteza sustava za regulaciju elektromotornog pogona mjernog člana brzine gredice

Trajektorije gibanja noževa letećih škara 1 MN u Željezari Zenica

Optimalno dijeljenje valjanog proizvoda na valjačkoj pruzi 850 u Valjaonici III RMK Zenica

Mikroračunarski sustav vođenja i upravljanja postrojenjem letećih škara - Simulacija na digitalnom računalu sustava za pozicioniranje EMP letećih škara 2, 5 MN

Digitalno mjerenje brzine vrtnje