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Vol. 4 (1/2020) Vol. 4 (1/2020) Skopje, North Macedonia Vol.4 (1/2020) Editor in Chief: Aziz Pollozhani, PhD (Republic of North Macedonia) Editors: Robert Pichler, PhD (Austria) Iraj Hashi, PhD (England) Rizvan Sulejmani, PhD (Republic of North Macedonia) Quirico Migheli, PhD (Italy) Iraj Hashi, PhD (England) Zoran Popovski, PhD (Republic of North Macedonia) Mimoza Dushi, PhD (Republic of Kosovo) Bekim Fetaji, PhD (Republic of North Macedonia) Olga Popovska, PhD (Republic of North Macedonia) Publisher: Mother Teresa University in Skopje, Republic of North Macedonia Editorial Board Alfonso Vargas Sanchez, PhD (Spain) Nezir Kraki, PhD (France) M. M. Sulphey, PhD (India) Marc Hill, PhD (Austria) Andrea Maliqari, PhD (Albania) Inge Hutter, PhD (Netherland) Gëzim Karapici, PhD (Albania) Yavuz Emre Arslan, PhD (Turkey) Agni Dika, PhD (Kosovo) Ayhan Oral, PhD (Turkey) Sermin Senturan, PhD (Turkey) Valentina Gogovska, PhD (North Macedonia) Mirko Perano, PhD (Italy) Anton Stoilov, PhD (Bulgaria) Salvatore Rubino, PhD (Italy) Afrim Hamidi, PhD (North Macedonia) Ruzhdi Sefa, PhD (Kosovo) Mehmed Ganic, PhD (Bosnia and Hercegovina) Sani Demiri, PhD (North Macedonia) Bashkim Ziberi, PhD (North Macedonia) Agim Mamuti, PhD (North Macedonia) Mesut Idriz, PhD (Bosnia and Hercegovina) Kalman Mizsei, PhD (Hungary) Zoran Trifunov, PhD (North Macedonia) Shaban Buza, PhD (Kosovo) Isak Idrizi, PhD (North Macedonia) Fiona Todhri, PhD (Albania) 3 South East European Journal of Managing Editors: Sani Demiri, PhD Sustainable Development Olga Popovska, PhD Technical Editing/Layout: Besnik Hamiti, ISSN (print) 2545-4463 Korab Ballanca ISSN (online) 2545-4471 Editorial Office: South East European is published twice a year. Journal of Sustainable Development Account No. 160016267778815 723019 - 45 Mother Teresa University in Skopje, Tax No. 4080016561272 Republic of North Macedonia Mirce Acev 4, VII floor, Skopje, North Bank: Narodna Banka RM Macedonia Phone: +389 2 3161 004 E-mail: seejsd@unt.edu.mk Web: www.seejsd.unt.edu.mk The publication of the Journal is supported by: Ministry of Culture of Republic of North Macedonia 4 Contents SECTION A Research article 9 MATHEMATICAL MODELING AND SIMULATIONS OF PATH PLANNING AND OBSTACLES OF MOBILE ROBOT Vesna Knights, Olivera Petrovska, Stojce Deskovski Research article 16 NEW NONSTANDARD METHOD FOR MEASURING PHYSICAL PROPERTIES OF HOMEMADE POLYMER FILAMENTS FOR FFD 3D PRINTING Arta Veliu, Riste Popeski-Dimovski Research article 22 INTRODUCING TRAFFIC CALMING MEASURES AND INCREASING TRAFFIC SAFETY IN THE SCHOOL ZONES-“11th Octomber” PRIMARY SCHOOL IN SKOPJE Olivera Petrovska, Andon Petrovski, Vesna Antovska Knights, Jovan Hristoski Professional article 29 TRANSFORMATION OF BORDER TOWNS IN THE REPUBLIC OF THROUGH DEVELOPMENT OF STRATEGIC AND ACTION PLANS Damjan Balkoski Research article 36 USING PYTHON PROGRAMMING FOR ASSESSING AND SOLVING HEALTH MANAGEMENT ISSUES Lindita Loku, Bekim Fetaji, Aleksandar Krsteski, Majlinda Fetaji, Zoran Zdravev SECTION B Case study 42 THE STATUS ON THE IMPLEMENTATION OF THE RIGHT TO ADDRESS PUBLIC AUTHORITIES IN NORTH MACEDONIA Aleksandar Petkovski, Daniel Pavlovski Author Guidelines – SEEJSD 52 5 EDITOR’S MESSAGE It has been almost 350 years since the founding of the The Journal will be published biannually and will first scientific journals, the Philosophical include original peer-reviewed articles, book reviews Transactions in England and the Journal des and short essays, from various areas that have an Sçavansin France. Now, there are many diverse impact on sustainable development. We believe that publications in various scientific fields which have our Journal will contribute towards the enrichment shown enormous development, both in terms of of scientific thought and the affirmation of ideas quantity and quality. in different fields from established and young researchers. We are also convinced that this Over time, published scientific papers have heralded the development of societies and global scientific platform will affirm the new scientists welfare. New scientific findings, innovations and and enthusiasts of our University to engage in research methodologies have become the international theoretical and empirical debates. determinants of the advancement of humanity. Those publications have surpassed any ownership and The editorial board of the Journal is well aware of the crossed over the borders of the places where they great challenges ahead. Undoubtedly, in order to were produced and emerged to build solid research in produce a successful and effective Journal and make the interest of the advancement of the needs and our contribution to the scientific community, a lot interests of humankind. of hard work and commitment is required. I am In this spirit, as a result of our willingness to engage certain that our board members, teaching and research in contemporary scientific developments and in various universities and countries, will contribute debates, the academic staff of the Mother Teresa greatly towards our goal with their experience and University, the youngest University in the Republic of willingness to sustain the SEEJSD and its community. I take this opportunity to thank the members of the North Macedonia, decided to establish the editorial board and welcome them to their important International Scientific Journal “South East role. European Journal for Sustainable Development (SEEJSD).” Lastly, I would like to express my sincere hope that the “South East European Journal for Sustainable The editorial board of the Journal, constituted of Development” will succeed in the realization of its researchers, experts and young scholars of various mission to positively contribute to science, education fields relevant to sustainable development, took and human development. the responsibility to consolidate and advance the content and quality of the Journal, to increase its Editor in Chief, scientific credibility and to align it in accordance Prof. Aziz Pollozhani, PhD with the requirements of the Science Citation Index (SCI). 77 Mathematical Modeling and Simulations of Path Planning and Obstacles of Mobile Robot Vesna Knights Faculty of Technology and Technical Sciences / University" St. Climent Ohridski", Bitola, Republic of North Macedonia, vesna.knights@uklo.edu.mk. Olivera Petrovska Faculty of Technical Sciences / Mother Teresa University-Skopje, Republic of North Macedonia, olivera.petrovska@unt.edu.mk. Stojce Deskovski Faculty of Technical Sciences / University" St. Climent Ohridski", Bitola, Republic of North Macedonia, vesna.knights@uklo.edu.mk. ABSTRACT This paper is presented a development of a mathematical model of mobile humanoid robot. It is following deductive principle, i.e. to start from a completely general model applicable to a set of tasks. Such a model is further adjusted according to need certain specific situations. The robot is wheeled humanoid robot as a structure composed by upper human-like body and cart mobile platform. The cart construction is supported by 4-wheels configuration, electric drive on the rear vehicles, and is directed from the front wheels. A general simulation system is realized at movement in a horizontal (2D) plane and the robot is modeled as a 3-DOF system (three degrees of freedom). We have considers a known environment where fixed potentials were assigned to the goal and the obstacles. It moves successfully within different obstacle configurations (closely spaced obstacles), and it solves the problem with a local minimum occurrence. Researches made in the paper are new opportunities and directions for new researches. As expected, the robot can easily handle low speed cart movements, and intuitively problems appear with an increase in speed. We restricted the consideration to cart motions which are relevant to the humanoid robot working in human-centred environments. A mobile robot is usually intended to work in services; so in homes, department stores, restaurants, museums, hospitals etc. The working conditions of humanoid and semi-humanoid robots directly determine the requirements related to the ability of robots to maintain balance, stay stable, remain accurate and provide the qualities to perform controlling tasks in the given circumstances of functioning. KEYWORDS Keywords: Mobile robots, Guidance and control, Obstacle avoidance. Robustness, Robot Posture. 1 Introduction This paper attempts to developed dynamic mathematical model of antropomimetric robot (driven robot) to real motions, particularly in posture stabilization for different situation. In principle, modeling may follow an inductive approach or a deductive one. We apply deductive one, and we use the term flier. This situation is not uncommon in reality; However, such motions are still less common than those where the system is in the contact with the ground or some other supporting object in its environment. The concept of the flier approach, derived for humanoid robots, is then applied [3,4]. It originally dealt with a full humanoid (pelvis, torso, arms, legs, head). ECCEROBOT1 applies only a part of it to the upper- body robot of Fig. 1. In a past few years a new expression has been established –anthropomimetic [2]. Anthropomimetics refers to a new kind of robotics which copies the human body as faithfully as possible with the aim of achieving a level of performances (diversity of motions, maneuverability, etc.) comparable with that of a human. ECCEROBOT has joints driven by antagonistically coupled DC motors. The two joint motors, the agonist and antagonist, working
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