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Maja Anachkova

Ss. Cyril & Methodius University in Skopje, Faculty of Mechanical Engenering, Faculty Member

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University of Zagreb

Uppsala University

University of East London

University of Leicester

Gwen Robbins Schug

University of North Carolina at Greensboro

Gabriel Gutierrez-Alonso

University of Salamanca

Macquarie University

Universidade Federal do Rio Grande do Sul

Swansea University

Jesper Hoffmeyer

University of Copenhagen

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Papers by Maja Anachkova

Design of a force control gripper using Matlab Simulink

2023 12th Mediterranean Conference on Embedded Computing (MECO)

Analytical and experimental model of an energy harvesting system

2023 International Conference on Control, Automation and Diagnosis (ICCAD)

Design and analysis of experimental adaptive feedback system for active noise control (ANC) in a duct

Journal of Mechanical Engineering, Automation and Control Systems

The limitations of passive noise control methods impose a need for new technical solutions to sol... more The limitations of passive noise control methods impose a need for new technical solutions to solve the problem of reducing low-frequency noise, which is considered to be a dominant component of noise disturbance. In recent years, the subject of intensive research are the active noise control systems, which have aroused considerable interest and represent a promising solution to the problem of low-frequency noise control. This paper proposes a robust methodology for simplified design and analysis of an experimental active noise control system for real-time control of acoustic environment in a duct. The proposed feedback control model is based on using the LMS algorithm, combined with FxLMS algorithm for estimation and neutralization of the secondary path in the electro-acoustic system. The study shows the potential of the FPGA module and the Real-time module of cRIO from National Instruments, combined with the LabView software environment when applied in adaptive system for active n...

Technical aspects of physical implementation of an active noise control system: challenges and opportunities

INTER-NOISE and NOISE-CON Congress and Conference Proceedings

Active noise control systems have become a subject of intensive worldwide research that have arou... more Active noise control systems have become a subject of intensive worldwide research that have aroused considerable interest as being a promising solution to the problem of low-frequency noise control. Advanced real-time signal processing technologies offer opportunities that have been adopted in many active noise control industry applications, as well as in the modern urban environment where noise reduction is gaining priority status. Depending on the application, the concept of active sound control can be implemented using different control strategies. The development and application of such systems requires in-depth knowledge and theoretical analysis in the field of digital signal processing, sensor technology, adaptive control, understanding in hardware solutions for acquisition and data processing, as well as software capabilities for modeling, visualization and control of signals. Also, the construction of such a system must give an overview of the choice and characteristics of ...

Influence of several audio parameters in urban sound event classification

INTER-NOISE and NOISE-CON Congress and Conference Proceedings

This paper presents a system for recognition and classification of sound events established throu... more This paper presents a system for recognition and classification of sound events established through the development of processes for detection and parameterization of sound signals that are used for further classification by applying machine learning algorithms. The focus is on the feature extraction process and the accuracy achieved when using different audio parameters. Five audio parameters were analyzed and tested on three machine learning algorithms order to investigate their influence in recognizing the class of the disturbing sound events in the urban areas, thus yielding to a collection of 48 different combinations. The applied audio parameters: MFCC, Mel Spectrogram, Chromagram, Spectral Contrast and Tonal Centroid were chosen as they are widely used for urban noise classification, but their combination forming diverse feature vectors have not been still analyzed. The accuracy results were different for each combination of the audio parameters, thus leading to choosing best...

Noise exposure level detection using the Skopje.Pulse platform

The intense globalization, the dramatic increase in population and the changes in infrastructure ... more The intense globalization, the dramatic increase in population and the changes in infrastructure in the large cities have caused a multitude of environmental problems and negative environmental changes in recent years. One of the most worrying problems that occurs in overcrowded and frequent metropolises is the problem of increased noise levels which can greatly affect human health. In the city of Skopje, as the capital of the Republic of North Macedonia, except for a few short-term measurements conducted by state institutions, no other measures have been taken to protect against noise pollution. This paper presents a solution for sustainable noise development and monitoring in the city of Skopje created and implemented by the software company Netcetera for the purpose of 24-hour monitoring of the level of noise in several measuring stations in the city. This concept is based on the “Internet of Things” principle, which collects noise level data via sensor network and Wi-Fi and LoRa...

Modeling of multi locomotion of soft robot

Proceedings of abstracts of XIV International Conference - ETAI 2018, Sep 1, 2018

Inspired by nature, engineers have explored the design of soft bio-inspired robots. Soft-bodied r... more Inspired by nature, engineers have explored the design of soft bio-inspired robots. Soft-bodied robots have potential to exploit morphological computation to adapt and interact. Modeling of the movement of a worm, a caterpillar and an octopus will be presented and analysed in this work. The models rely on segmented approach and variations of external loadings to achieve the desired kinematics of movement using Matlab/Simulink. The parametric results from the simulation lead to a conclusion of optimal number of segments and performance. The actuation of the robot is foreseen to be achieved by shape memory allows in linear and torsional configuration. Multi locomotion of these bio-inspired soft robots will be analysed.

NOISE EXPOSURE LEVEL DETECTION USING THE INTERNET OF THINGS (IoT) CONCEPT

The intense globalization, the steady growth in population and the changes in infrastructure in t... more The intense globalization, the steady growth in population and the changes in infrastructure in the last decade have caused multiple negative environmental changes in the large cities. One of the most worrying problems that occurs in overpopulated and frequent urban cities is the problem of increased noise levels which can seriously affect human health. This work presents an environmentally sustainable solution based on an Internet of Things (IoT) platform in the city of Skopje, the capital of North Macedonia for the purpose of 24-hour monitoring of the level of noise in several measuring stations in the city. The final goal of this platform is to serve as a monitoring portal and a credible source for an early warning system of increased noise levels in the city. This paper also focuses on explaining a low-cost sensor design for converting the Units obtained from the monitoring network, into Decibels, as well as the functionality of the sensor network, providing information about the noise exposure situation in the city. In order to predict and perform active measures about the future noise pollution across the city, analysis for the noise levels in 2018 was described and thereafter, conclusions about the most exposed location, month and period of the day are brought. This leads to a better understanding of the dynamics of changes in the noise levels in the city which hasn't been conducted previously, but at the same time is crucial for further preventing the evident noise pollution enhancement.

Urban noise mapping: The impact of traffic noise level in the environmental noise pollution

The European Union proposes noise protection measures adopted in accordance with European legisla... more The European Union proposes noise protection measures adopted in accordance with European legislation, emphasizing environmental noise pollution as an important environmental problem. The legislation imposes European Directive 2002/49/EC, which aims to establish a common basis for addressing noise problems in Europe through noise maps which are a powerful tool for controlling the population exposure to environmental noise. In this paper, a noise map generation based on using the vehicle flows on four boulevards that enclose a living area in the center of Skopje, the capital city of North Macedonia is described. For this purpose, statistics on the flow of vehicles on the boulevards are provided by Traffic Management and Control Center. The noise simulations were created using a noise propagation model in IMMI as simulation software. The initial map was additionally validated by performing short-term measurements at the intersections of these boulevards in order to come to a conclusion of the impact of the traffic noise pollution in the overall environmental noise situation. The advantage of having this map representation of traffic noise allows for a more accurate view of the actual environmental noise circumstanes in the city center, determining more quickly the causes of high noise levels and, consequently, any mitigation action required.

Analysis of the Noise Impact in Urban Area in the City of Skopje

Noise pollution in the urban environments is becoming increasingly common and it has potential to... more Noise pollution in the urban environments is becoming increasingly common and it has potential to harmfully impact on people's health and decrease the overall productivity. Skopje, as the capital of North Macedonia, is a city that faces problem with the environmental noise, causing different forms of health problems. In this work, a methodology for choosing pilot area and analyzing the noise pollution in that area through objective and subjective analysis is presented. The chosen pilot area is a neighborhood located in the central part of the city, surrounded with four frequent streets and a lots of inhabitants and visitors. Measurement for the noise levels were carried out using 1 st class hand-held device, from which the results indicated increased noise pollution. A general survey was applied to a sample of 96 inhabitants, employees and visitors in this pilot area. By analyzing both of the approaches for noise analysis, a correlation between them is found in order to find the most influential noise source. The most significant and annoying noise source is found to be the noise caused from traffic flow and vehicles and engines that drive at high speed.

Impact testing of end-winding in two hydro generators in different temperature state

32nd International Conference on Vibroengineering in Brno, Czech Republic, May 22-24th, 2018, 2018

A reliable operation of generators is highly dependent on the electrical and mechanical integrity... more A reliable operation of generators is highly dependent on the electrical and mechanical integrity of stator end-winding vibration and has been a major concern in the last two decades. This paper focuses on the experience in hammer impact testing of end-winding vibrations of parallel phase leads and series loop caps in two hydro generators in a different temperature state. The measurements were conducted using hammer testing on the two generators separately and a discussion and comparison of the results was presented in order to perceive the dependence of the temperature and dynamic characteristics of the structures. Introductory, a brief survey of recent research progress in monitoring the end-winding vibrations in generators is presented. Subsequently, a detailed description of the performed measurement, starting from the identification of the object and conducted testing methodology according to established standards is systematically exposed. Ultimately, a paramount accent will b...

Design, modeling and prototyping of bio-inspired robot actuated by piezoelectric transducers

Design and Analysis of a Modular VTOL Drone With Bat-Inspired Wings

The future of technology lies in the diverse characteristics and capabilities of autonomous machi... more The future of technology lies in the diverse characteristics and capabilities of autonomous machines and devices and their application in many technical challenge. Rapid technology development, market globalization and availability of affordable electronics and controllers, have recently resulted in increased scientific and technical interest in drones as autonomous solutions for professional, as well as, amateur applications. On the other hand, researchers have been improving how manmade machines move through air by attempting to replicate animals motion by mimicking their aerial abilities. In this paper, we propose a development of a bio-inspired modular drone concept motivated by the bats agility, wingspan and wings folding into various shapes. The drone can be tailored for different applications, from sea port mapping, surveying, tank inspection and port traffic control to pollution monitoring and detection of illegal activities. The aerial performances of the drone allow it to ...

Modular Origami Robot Inspired by a Scorpion Tail

Volume 2: Mechanics and Behavior of Active Materials; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting; Emerging Technologies, 2018

Arthropod animals like scorpions with modular body parts can be an inspiration for a robot’s stru... more Arthropod animals like scorpions with modular body parts can be an inspiration for a robot’s structure. The design presented here relays on inter-connected origami towers, but could also be easily disassembled. Each origami tower is fully autonomous and at the same time is part of the robot as a whole. The towers are positioned between two platforms that enable modularity. The scorpion’s tale shape is achieved by the varying platform diameter resulting in cone-like form. Each tower is actuated independently to enable multiple degrees of freedom. Maneuvering with separated units, assists in easier reparation as well as replacement. Detaching the towers into separate parts makes this structure develop more precise movements, since every unit will move autonomously. Therefore, having a higher number of separated movements combined leads to a smooth bionic movement. So, the overall hierarchy will be modular contributing to a greater curvature bending of the whole structure. Actuating an...

Анализа за влијанието на бучавата во урбани средини

OSH Priority, Oct 1, 2019

Urban Sound Recognition Using Different Feature Extraction Techniques

The application of the advanced methods for noise analysis in the urban areas through the develop... more The application of the advanced methods for noise analysis in the urban areas through the development of systems for classification of sound events significantly improves and simplifies the process of noise assessment. The main purpose of sound recognition and classification systems is to develop algorithms that can detect and classify sound events that occur in the chosen environment, giving an appropriate response to their users. In this research, a supervised system for recognition and classification of sound events has been established through the development of feature extraction techniques based on digital signal processing of the audio signals that are further used as an input parameter in the machine learning algorithms for classification of the sound events. Various audio parameters were extracted and processed in order to choose the best set of parameters that result in better recognition of the class to which the sounds belong. The created acoustic event detection and cla...

Analysis of noise impact in urban areas

The exposure of high level of noise in the twenty-first century causes many health problems in th... more The exposure of high level of noise in the twenty-first century causes many health problems in the urban areas, which inevitably imposes the need for effective analysis of the noise in order to reduce the noise level and protect the health of the population. One of the major health problems caused by the noise is anxiety that leads to impairment of the quality of life. The city of Skopje, as a large urban area (agglomeration), faces serious problems caused by the environmental noise, which is the reason for various health problems. This research illustrates the methodology for the noise impact analysis in ‘Debar Maalo’ neighborhood. ‘Debar Maalo’ is a neighborhood located in the city centre, surrounded with four major streets, heavy traffic and a lot of people. A survey was conducted on 93 respondents that live, work or are visitors in this area. The results show that the noise has bad influence on the population, so further steps must be taken in order to reduce the noise level in ...

Design of low-cost wireless noise monitoring sensor unit based on IoT concept

Journal of Vibroengineering, 2021

The recent expansion of wireless sensor networks (WSN) in urban cities has led to possibility of ... more The recent expansion of wireless sensor networks (WSN) in urban cities has led to possibility of generation of large amounts of information data from the environmental monitoring systems among which one of the most concerning is the excessive urban noise pollution. As opposed to the conventional noise mapping procedures that involve costly and time-consuming measurement process with a traditional high-priced noise level meter, the low-cost wireless sensor networks provide a method for achieving data collection and analysis with a higher level of granularity. Тhis paper presents a wireless noise sensor unit design for continuous environmental noise level monitoring as a framework for the realization of the Internet of Things (IoT) and "Smart city" concept. The concept involves the complete noise data information system, from sensor structure to data visualization and data analysis. The overall design, characteristics and performance of the sensing system for continuous measuring urban noise pollution is discussed.

Wireless Acoustic Low-cost Sensor Network for Urban Noise Monitoring

Autonomous Multifunctional Vehicle With Integrated Bio-Inspired SMA Actuated Grasper

The space exploration activities are merging new technologies in order to develop systems challen... more The space exploration activities are merging new technologies in order to develop systems challenged to achieve capabilities for high mission experience. Inspired by the numerous applications in space exploration, with the integration of shape memory alloys (SMAs), a 3D printed continuous All Terrain Grasper Transport (AT-GT) vehicle with implemented multi-locomotion grasper was created. In order to reduce failure of the mechanical system, the vehicle is equipped with SMA suspension and SMA tensioner of a pulley system with adaptable height able to achieve movement on a given trajectory and adjust to any terrain. SMA actuators provide controllable actuation based on the simplicity of their design and the shape memory effect. By using the advantages of the origami engineering, soft robotics and smart material implementation, a bio-inspired autonomous grasper was integrated on the AT-GT, capable of leaving the vehicle, grabbing an object and bringing it back to the vehicle. The concep...

Design of a force control gripper using Matlab Simulink

2023 12th Mediterranean Conference on Embedded Computing (MECO)

Analytical and experimental model of an energy harvesting system

2023 International Conference on Control, Automation and Diagnosis (ICCAD)

Design and analysis of experimental adaptive feedback system for active noise control (ANC) in a duct

Journal of Mechanical Engineering, Automation and Control Systems

The limitations of passive noise control methods impose a need for new technical solutions to sol... more The limitations of passive noise control methods impose a need for new technical solutions to solve the problem of reducing low-frequency noise, which is considered to be a dominant component of noise disturbance. In recent years, the subject of intensive research are the active noise control systems, which have aroused considerable interest and represent a promising solution to the problem of low-frequency noise control. This paper proposes a robust methodology for simplified design and analysis of an experimental active noise control system for real-time control of acoustic environment in a duct. The proposed feedback control model is based on using the LMS algorithm, combined with FxLMS algorithm for estimation and neutralization of the secondary path in the electro-acoustic system. The study shows the potential of the FPGA module and the Real-time module of cRIO from National Instruments, combined with the LabView software environment when applied in adaptive system for active n...

Technical aspects of physical implementation of an active noise control system: challenges and opportunities

INTER-NOISE and NOISE-CON Congress and Conference Proceedings

Active noise control systems have become a subject of intensive worldwide research that have arou... more Active noise control systems have become a subject of intensive worldwide research that have aroused considerable interest as being a promising solution to the problem of low-frequency noise control. Advanced real-time signal processing technologies offer opportunities that have been adopted in many active noise control industry applications, as well as in the modern urban environment where noise reduction is gaining priority status. Depending on the application, the concept of active sound control can be implemented using different control strategies. The development and application of such systems requires in-depth knowledge and theoretical analysis in the field of digital signal processing, sensor technology, adaptive control, understanding in hardware solutions for acquisition and data processing, as well as software capabilities for modeling, visualization and control of signals. Also, the construction of such a system must give an overview of the choice and characteristics of ...

Influence of several audio parameters in urban sound event classification

INTER-NOISE and NOISE-CON Congress and Conference Proceedings

This paper presents a system for recognition and classification of sound events established throu... more This paper presents a system for recognition and classification of sound events established through the development of processes for detection and parameterization of sound signals that are used for further classification by applying machine learning algorithms. The focus is on the feature extraction process and the accuracy achieved when using different audio parameters. Five audio parameters were analyzed and tested on three machine learning algorithms order to investigate their influence in recognizing the class of the disturbing sound events in the urban areas, thus yielding to a collection of 48 different combinations. The applied audio parameters: MFCC, Mel Spectrogram, Chromagram, Spectral Contrast and Tonal Centroid were chosen as they are widely used for urban noise classification, but their combination forming diverse feature vectors have not been still analyzed. The accuracy results were different for each combination of the audio parameters, thus leading to choosing best...

Noise exposure level detection using the Skopje.Pulse platform

The intense globalization, the dramatic increase in population and the changes in infrastructure ... more The intense globalization, the dramatic increase in population and the changes in infrastructure in the large cities have caused a multitude of environmental problems and negative environmental changes in recent years. One of the most worrying problems that occurs in overcrowded and frequent metropolises is the problem of increased noise levels which can greatly affect human health. In the city of Skopje, as the capital of the Republic of North Macedonia, except for a few short-term measurements conducted by state institutions, no other measures have been taken to protect against noise pollution. This paper presents a solution for sustainable noise development and monitoring in the city of Skopje created and implemented by the software company Netcetera for the purpose of 24-hour monitoring of the level of noise in several measuring stations in the city. This concept is based on the “Internet of Things” principle, which collects noise level data via sensor network and Wi-Fi and LoRa...

Modeling of multi locomotion of soft robot

Proceedings of abstracts of XIV International Conference - ETAI 2018, Sep 1, 2018

Inspired by nature, engineers have explored the design of soft bio-inspired robots. Soft-bodied r... more Inspired by nature, engineers have explored the design of soft bio-inspired robots. Soft-bodied robots have potential to exploit morphological computation to adapt and interact. Modeling of the movement of a worm, a caterpillar and an octopus will be presented and analysed in this work. The models rely on segmented approach and variations of external loadings to achieve the desired kinematics of movement using Matlab/Simulink. The parametric results from the simulation lead to a conclusion of optimal number of segments and performance. The actuation of the robot is foreseen to be achieved by shape memory allows in linear and torsional configuration. Multi locomotion of these bio-inspired soft robots will be analysed.

NOISE EXPOSURE LEVEL DETECTION USING THE INTERNET OF THINGS (IoT) CONCEPT

The intense globalization, the steady growth in population and the changes in infrastructure in t... more The intense globalization, the steady growth in population and the changes in infrastructure in the last decade have caused multiple negative environmental changes in the large cities. One of the most worrying problems that occurs in overpopulated and frequent urban cities is the problem of increased noise levels which can seriously affect human health. This work presents an environmentally sustainable solution based on an Internet of Things (IoT) platform in the city of Skopje, the capital of North Macedonia for the purpose of 24-hour monitoring of the level of noise in several measuring stations in the city. The final goal of this platform is to serve as a monitoring portal and a credible source for an early warning system of increased noise levels in the city. This paper also focuses on explaining a low-cost sensor design for converting the Units obtained from the monitoring network, into Decibels, as well as the functionality of the sensor network, providing information about the noise exposure situation in the city. In order to predict and perform active measures about the future noise pollution across the city, analysis for the noise levels in 2018 was described and thereafter, conclusions about the most exposed location, month and period of the day are brought. This leads to a better understanding of the dynamics of changes in the noise levels in the city which hasn't been conducted previously, but at the same time is crucial for further preventing the evident noise pollution enhancement.

Urban noise mapping: The impact of traffic noise level in the environmental noise pollution

The European Union proposes noise protection measures adopted in accordance with European legisla... more The European Union proposes noise protection measures adopted in accordance with European legislation, emphasizing environmental noise pollution as an important environmental problem. The legislation imposes European Directive 2002/49/EC, which aims to establish a common basis for addressing noise problems in Europe through noise maps which are a powerful tool for controlling the population exposure to environmental noise. In this paper, a noise map generation based on using the vehicle flows on four boulevards that enclose a living area in the center of Skopje, the capital city of North Macedonia is described. For this purpose, statistics on the flow of vehicles on the boulevards are provided by Traffic Management and Control Center. The noise simulations were created using a noise propagation model in IMMI as simulation software. The initial map was additionally validated by performing short-term measurements at the intersections of these boulevards in order to come to a conclusion of the impact of the traffic noise pollution in the overall environmental noise situation. The advantage of having this map representation of traffic noise allows for a more accurate view of the actual environmental noise circumstanes in the city center, determining more quickly the causes of high noise levels and, consequently, any mitigation action required.

Analysis of the Noise Impact in Urban Area in the City of Skopje

Noise pollution in the urban environments is becoming increasingly common and it has potential to... more Noise pollution in the urban environments is becoming increasingly common and it has potential to harmfully impact on people's health and decrease the overall productivity. Skopje, as the capital of North Macedonia, is a city that faces problem with the environmental noise, causing different forms of health problems. In this work, a methodology for choosing pilot area and analyzing the noise pollution in that area through objective and subjective analysis is presented. The chosen pilot area is a neighborhood located in the central part of the city, surrounded with four frequent streets and a lots of inhabitants and visitors. Measurement for the noise levels were carried out using 1 st class hand-held device, from which the results indicated increased noise pollution. A general survey was applied to a sample of 96 inhabitants, employees and visitors in this pilot area. By analyzing both of the approaches for noise analysis, a correlation between them is found in order to find the most influential noise source. The most significant and annoying noise source is found to be the noise caused from traffic flow and vehicles and engines that drive at high speed.

Impact testing of end-winding in two hydro generators in different temperature state

32nd International Conference on Vibroengineering in Brno, Czech Republic, May 22-24th, 2018, 2018

A reliable operation of generators is highly dependent on the electrical and mechanical integrity... more A reliable operation of generators is highly dependent on the electrical and mechanical integrity of stator end-winding vibration and has been a major concern in the last two decades. This paper focuses on the experience in hammer impact testing of end-winding vibrations of parallel phase leads and series loop caps in two hydro generators in a different temperature state. The measurements were conducted using hammer testing on the two generators separately and a discussion and comparison of the results was presented in order to perceive the dependence of the temperature and dynamic characteristics of the structures. Introductory, a brief survey of recent research progress in monitoring the end-winding vibrations in generators is presented. Subsequently, a detailed description of the performed measurement, starting from the identification of the object and conducted testing methodology according to established standards is systematically exposed. Ultimately, a paramount accent will b...

Design, modeling and prototyping of bio-inspired robot actuated by piezoelectric transducers

Design and Analysis of a Modular VTOL Drone With Bat-Inspired Wings

The future of technology lies in the diverse characteristics and capabilities of autonomous machi... more The future of technology lies in the diverse characteristics and capabilities of autonomous machines and devices and their application in many technical challenge. Rapid technology development, market globalization and availability of affordable electronics and controllers, have recently resulted in increased scientific and technical interest in drones as autonomous solutions for professional, as well as, amateur applications. On the other hand, researchers have been improving how manmade machines move through air by attempting to replicate animals motion by mimicking their aerial abilities. In this paper, we propose a development of a bio-inspired modular drone concept motivated by the bats agility, wingspan and wings folding into various shapes. The drone can be tailored for different applications, from sea port mapping, surveying, tank inspection and port traffic control to pollution monitoring and detection of illegal activities. The aerial performances of the drone allow it to ...

Modular Origami Robot Inspired by a Scorpion Tail

Volume 2: Mechanics and Behavior of Active Materials; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting; Emerging Technologies, 2018

Arthropod animals like scorpions with modular body parts can be an inspiration for a robot’s stru... more Arthropod animals like scorpions with modular body parts can be an inspiration for a robot’s structure. The design presented here relays on inter-connected origami towers, but could also be easily disassembled. Each origami tower is fully autonomous and at the same time is part of the robot as a whole. The towers are positioned between two platforms that enable modularity. The scorpion’s tale shape is achieved by the varying platform diameter resulting in cone-like form. Each tower is actuated independently to enable multiple degrees of freedom. Maneuvering with separated units, assists in easier reparation as well as replacement. Detaching the towers into separate parts makes this structure develop more precise movements, since every unit will move autonomously. Therefore, having a higher number of separated movements combined leads to a smooth bionic movement. So, the overall hierarchy will be modular contributing to a greater curvature bending of the whole structure. Actuating an...

Анализа за влијанието на бучавата во урбани средини

OSH Priority, Oct 1, 2019

Urban Sound Recognition Using Different Feature Extraction Techniques

The application of the advanced methods for noise analysis in the urban areas through the develop... more The application of the advanced methods for noise analysis in the urban areas through the development of systems for classification of sound events significantly improves and simplifies the process of noise assessment. The main purpose of sound recognition and classification systems is to develop algorithms that can detect and classify sound events that occur in the chosen environment, giving an appropriate response to their users. In this research, a supervised system for recognition and classification of sound events has been established through the development of feature extraction techniques based on digital signal processing of the audio signals that are further used as an input parameter in the machine learning algorithms for classification of the sound events. Various audio parameters were extracted and processed in order to choose the best set of parameters that result in better recognition of the class to which the sounds belong. The created acoustic event detection and cla...

Analysis of noise impact in urban areas

The exposure of high level of noise in the twenty-first century causes many health problems in th... more The exposure of high level of noise in the twenty-first century causes many health problems in the urban areas, which inevitably imposes the need for effective analysis of the noise in order to reduce the noise level and protect the health of the population. One of the major health problems caused by the noise is anxiety that leads to impairment of the quality of life. The city of Skopje, as a large urban area (agglomeration), faces serious problems caused by the environmental noise, which is the reason for various health problems. This research illustrates the methodology for the noise impact analysis in ‘Debar Maalo’ neighborhood. ‘Debar Maalo’ is a neighborhood located in the city centre, surrounded with four major streets, heavy traffic and a lot of people. A survey was conducted on 93 respondents that live, work or are visitors in this area. The results show that the noise has bad influence on the population, so further steps must be taken in order to reduce the noise level in ...

Design of low-cost wireless noise monitoring sensor unit based on IoT concept

Journal of Vibroengineering, 2021

The recent expansion of wireless sensor networks (WSN) in urban cities has led to possibility of ... more The recent expansion of wireless sensor networks (WSN) in urban cities has led to possibility of generation of large amounts of information data from the environmental monitoring systems among which one of the most concerning is the excessive urban noise pollution. As opposed to the conventional noise mapping procedures that involve costly and time-consuming measurement process with a traditional high-priced noise level meter, the low-cost wireless sensor networks provide a method for achieving data collection and analysis with a higher level of granularity. Тhis paper presents a wireless noise sensor unit design for continuous environmental noise level monitoring as a framework for the realization of the Internet of Things (IoT) and "Smart city" concept. The concept involves the complete noise data information system, from sensor structure to data visualization and data analysis. The overall design, characteristics and performance of the sensing system for continuous measuring urban noise pollution is discussed.

Wireless Acoustic Low-cost Sensor Network for Urban Noise Monitoring

Autonomous Multifunctional Vehicle With Integrated Bio-Inspired SMA Actuated Grasper

The space exploration activities are merging new technologies in order to develop systems challen... more The space exploration activities are merging new technologies in order to develop systems challenged to achieve capabilities for high mission experience. Inspired by the numerous applications in space exploration, with the integration of shape memory alloys (SMAs), a 3D printed continuous All Terrain Grasper Transport (AT-GT) vehicle with implemented multi-locomotion grasper was created. In order to reduce failure of the mechanical system, the vehicle is equipped with SMA suspension and SMA tensioner of a pulley system with adaptable height able to achieve movement on a given trajectory and adjust to any terrain. SMA actuators provide controllable actuation based on the simplicity of their design and the shape memory effect. By using the advantages of the origami engineering, soft robotics and smart material implementation, a bio-inspired autonomous grasper was integrated on the AT-GT, capable of leaving the vehicle, grabbing an object and bringing it back to the vehicle. The concep...