Budovanie laboratória projektovania a údržby výrobných systémov s využitím virtuálnej reality

Basic informations

Thematic area: komisia č. 2 pre nové technológie, metódy a formy vo vzdelávaní

Project name (Slovak): Budovanie laboratória projektovania a údržby výrobných systémov s využitím virtuálnej reality

Project name (English): Development of a laboratory for the design and maintenance of production systems supported by the use of Virtual Reality

Start of project: 2018

End of project: 2020

Condition of project: Ukončený

Project number: 021STU-4/2018

Project leader: prof. Ing. Peter Košťál, PhD.

University: Slovenská technická univerzita v Bratislave

Department: Materiálovotechnologická fakulta so sídlom v Trnave

Financial grant of MŠVVandŠ SR within KEGA

Financial grant of MŠVVandŠ SR within KEGA Capital expenditures in €
Pumped for the entire period of the project 31 410,00 0,00

List of project outcomes for the entire solution

Publishing activity

Category code Specific output, name (ISBN, number of pages a i.)
ADF DELGADO SOBRINO, Daynier Rolando - DÍAZ CAZAŇAS, Ronald - RUŽAROVSKÝ, Roman - HOLUBEK, Radovan. Integrative programming of production and preventive maintenance tasks in an environment of identical parallel machines: proposal of a construction heuristic. In Vedecké práce MtF STU v Bratislave so sídlom v Trnave. Research papers Faculty of Materials Science and Technology Slovak University of Technology in Trnava. Vol. 26, no. 42 (2018), s. 127-134. ISSN 1336-1589. V databáze: DOI: DOI 10.2478/rput-2018-0015 ; INSPEC. Projekt: 021STU-4/2018 106.
ADF HOLUBEK, Radovan - RUŽAROVSKÝ, Roman - DELGADO SOBRINO, Daynier Rolando. Using virtual reality as a support tool for the offline robot programming. In Vedecké práce MtF STU v Bratislave so sídlom v Trnave. Research papers Faculty of Materials Science and Technology Slovak University of Technology in Trnava. Vol. 26, no. 42 (2018), s. 85-92. ISSN 1336-1589. V databáze: DOI: DOI 10.2478/rpu-2018-0010 ; INSPEC. Projekt: 021STU-4/2018 106.
ADF RUŽAROVSKÝ, Roman - HOLUBEK, Radovan - DELGADO SOBRINO, Daynier Rolando. Virtual commissioning of a robotic cell prior to its implementation into a real flexible production system, generation of the robot offline programming (OLP) and validation of the PLC code. In Vedecké práce MtF STU v Bratislave so sídlom v Trnave. Research papers Faculty of Materials Science and Technology Slovak University of Technology in Trnava. Vol. 26, no. 42 (2018), s. 93-102. ISSN 1336-1589. V databáze: DOI: DOI 10.2478/rput-2018-0011 ; INSPEC. Projekt: 021STU-4/2018 106.
ADF KOŠŤÁL, Peter - MUDRIKOVÁ, Andrea. Laboratory for drawingless manufacturing. In Vedecké práce MtF STU v Bratislave so sídlom v Trnave. Research papers Faculty of Materials Science and Technology Slovak University of Technology in Trnava. Vol. 26, no. 42 (2018), s. 145-150. ISSN 1336-1589. V databáze: DOI: DOI10.2478/rput-2018-0017 ; INSPEC. Projekt: 021STU-4/2018 106.
ADF DÍAZ CAZAŇAS, Ronald - DELGADO SOBRINO, Daynier Rolando - MARTÍNEZ, Estrella María De La Paz - KOŠŤÁL, Peter - MUDRIKOVÁ, Andrea. Integrating production and maintenance planning as an element of success at the tactical level: A fuzzy control theory approach. In Vedecké práce MtF STU v Bratislave so sídlom v Trnave. Research papers Faculty of Materials Science and Technology Slovak University of Technology in Trnava. Vol. 26, no. 42 (2018), s. 109-118. ISSN 1336-1589. V databáze: DOI: DOI 10.2478/rput-2018-0013 ; INSPEC. Projekt: 021STU-4/2018 106.
AEC BUČÁNYOVÁ, Marcela - KUSÁ, Martina - MATÚŠOVÁ, Miriam. Analysis of the problem of granulated material movement in the production process. In Novel Trends in Production Devices and Systems V (NTPDS V) : Special topic volume with invited peer reviewed papers only. 1. vyd. Zurich : Trans Tech Publications, 2019, S. 207-215. ISSN 0255-5476. ISBN 978-3-0357-1515-6. V databáze: SCOPUS: 2-s2.0-85066261881.
AEC BUČÁNYOVÁ, Marcela - MATÚŠOVÁ, Miriam - HRUŠKOVÁ, Erika. Analysis of the assembly joint at deformation of matched objects. In Novel Trends in Production Devices and Systems V (NTPDS V) : Special topic volume with invited peer reviewed papers only. 1. vyd. Zurich : Trans Tech Publications, 2019, S. 330-338. ISSN 0255-5476. ISBN 978-3-0357-1515-6. V databáze: SCOPUS: 2-s2.0-85066247365.
AEC VOYACHEK, I.I. - KOCHETKOV, D.V. - DELGADO SOBRINO, Daynier Rolando - MITYASOV, S.G. - ZVEROVSHHIKOV, V.Z. - RUŽAROVSKÝ, Roman - HORNÍK, J. Rational provision of functional properties of interference fit joints in case of assembly with implementation of anaerobic materials. In Novel Trends in Production Devices and Systems V (NTPDS V) : Special topic volume with invited peer reviewed papers only. 1. vyd. Zurich : Trans Tech Publications, 2019, S. 123-132. ISSN 0255-5476. ISBN 978-3-0357-1515-6. V databáze: SCOPUS: 2-s2.0-85066252367.
AFC HOLUBEK, Radovan - RUŽAROVSKÝ, Roman - DELGADO SOBRINO, Daynier Rolando. An innovative approach of industrial robot programming using virtual reality for the design of production systems layout. In Advances in Manufacturing II : Volume 1 - Solutions for Industry 4.0. Cham, Switzerland : Springer Nature Switzerland AG, 2019, S. 223-235. ISSN 2195-4356. ISBN 978-3-030-18714-9. V databáze: SCOPUS: 2-s2.0-85065297836 ; DOI: 10.1007/978-3-030-18715-6_19 ; WOS: 000490710700019.
AFC KOŠŤÁL, Peter - MUDRIKOVÁ, Andrea - DELGADO SOBRINO, Daynier Rolando - MICHAL, Dávid - LECKÝ, Šimon. Comparison of the NC data preparation methods for drawingless production. In Advances in Manufacturing II : Volume 1 - Solutions for Industry 4.0. Cham, Switzerland : Springer Nature Switzerland AG, 2019, S. 62-71. ISSN 2195-4356. ISBN 978-3-030-18714-9. V databáze: SCOPUS: 2-s2.0-85065328754 ; DOI: 10.1007/978-3-030-18715-6_6 ; WOS: 000490710700006.
AFC KOŠŤÁL, Peter - MUDRIKOVÁ, Andrea - MICHAL, Dávid. Possibilities of intelligent flexible manufacturing systems. In IOP Conference Series: Materials Science and Engineering. Vol. 659, iss. 1 (2019), s. 1-8. ISSN 1757-8981 (2018: 0.192 - SJR). V databáze: DOI: 10.1088/1757-899X/659/1/012035.
AFC MICHAL, Dávid - LECKÝ, Šimon - KOŠŤÁL, Peter - VÁCLAV, Štefan. Welding workstation planning with use of CAD software and simulation. In Advances in Manufacturing II : Volume 2 - Production Engineering and Management. Cham, Switzerland : Springer Nature Switzerland AG, 2019, S. 97-105. ISSN 2195-4356. ISBN 978-3-030-18788-0. V databáze: DOI: 10.1007/978-3-030-18789-7_9 ; SCOPUS: 2-s2.0-85065339741.
AFC VÁCLAV, Štefan - KOŠŤÁL, Peter - MICHAL, Dávid - LECKÝ, Šimon. Assembly systems planning with use of databased and simulation. In IOP Conference Series: Materials Science and Engineering. Vol. 659, iss. 1 (2019), s. 1-5. ISSN 1757-8981 (2018: 0.192 - SJR). V databáze: DOI: 10.1088/1757-899X/659/1/012023.
ADF BUČÁNYOVÁ, Marcela - KUSÁ, Martina. Design of single-purpose milling machine prototype and its verification with respect to defined criteria. In Vedecké práce MtF STU v Bratislave so sídlom v Trnave. Research papers Faculty of Materials Science and Technology Slovak University of Technology in Trnava. Roč. 28, č. 47 (2020), s. 21-31. ISSN 1336-1589. V databáze: DOI: 10.2478/rput-2020-0015 ; INSPEC.
ADF KOŠŤÁL, Peter - MATÚŠOVÁ, Miriam - HRUŠKOVÁ, Erika - PRAJOVÁ, Vanesa. Process schedule of material flow activities in iCIM 3000. In Vedecké práce MtF STU v Bratislave so sídlom v Trnave. Research papers Faculty of Materials Science and Technology Slovak University of Technology in Trnava. Roč. 28, č. 47 (2020), s. 1-10. ISSN 1336-1589. V databáze: DOI: 10.2478/rput-2020-0013 ; INSPEC.
ADM VÁCLAV, Štefan - MAREŠ, Albert - LEGUTKO, Stanislav - KOŠŤÁL, Peter - DELGADO SOBRINO, Daynier Rolando. Proposal of a system for estimating the assembly time in small and medium-sized enterprises. In Tehnički Vjesnik - Technical Gazette. Vol. 27, iss. 6 (2020), s. 2089-2096. ISSN 1330-3651 (2019: 0.670 - IF, Q4 - JCR Best Q, 0.242 - SJR, Q2 - SJR Best Q). V databáze: DOI: 10.17559/TV-20200115222042 ; WOS: 000600425200047 ; SCOPUS: 2-s2.0-85098264489.
AFC HOLUBEK, Radovan - RUŽAROVSKÝ, Roman - VELÍŠEK, Karol - JANÍČEK, Matej. Novel trend in case study of industrial robot programming and production system design using the virtual reality. In IOP Conference Series: Materials Science and Engineering. Vol. 1009, The 5th International Conference on Computing and Solutions in Manufacturing Engineering (CoSME'20) 7-10 October 2020, Brasov, Romania (2021), s. 1-8. ISSN 1757-8981 (2019: 0.198 - SJR). V databáze: DOI: 10.1088/1757-899X/1009/1/012023 ; SCOPUS: 2-s2.0-85099903248.
AFC JANÍČEK, Matej - HOLUBEK, Radovan - RUŽAROVSKÝ, Roman - VELÍŠEK, Karol. Voice frequency impact for voice control of collaborative robots. In IOP Conference Series: Materials Science and Engineering. Vol. 1009, The 5th International Conference on Computing and Solutions in Manufacturing Engineering (CoSME'20) 7-10 October 2020, Brasov, Romania (2021), s. 1-6. ISSN 1757-8981 (2019: 0.198 - SJR). V databáze: DOI: 10.1088/1757-899X/1009/1/012025 ; SCOPUS: 2-s2.0-85099966250.
AFC JANÍČEK, Matej - RUŽAROVSKÝ, Roman - VELÍŠEK, Karol - HOLUBEK, Radovan. Analysis of voice control of a collaborative robot. In Journal of Physics: Conference Series. Vol. 1781, International Conference on Applied Sciences (ICAS 2020), 20-22.5.2020, Hunedoara, Romania (2021), s. 1-6. ISSN 1742-6588 (2019: 0.227 - SJR, Q3 - SJR Best Q). V databáze: DOI: 10.1088/1742-6596/1781/1/012025.
AFC RUŽAROVSKÝ, Roman - HOLUBEK, Radovan - JANÍČEK, Matej - VELÍŠEK, Karol - TIRIAN, G.O. Analysis of the Industry 4.0 key elements and technologies implementation in the Festo Didactic educational systems MPS 203 I4.0. In Journal of Physics: Conference Series. Vol. 1781, International Conference on Applied Sciences (ICAS 2020), 20-22.5.2020, Hunedoara, Romania (2021), s. 1-12. ISSN 1742-6588 (2019: 0.227 - SJR, Q3 - SJR Best Q). V databáze: DOI: 10.1088/1742-6596/1781/1/012030.

Replications

Category Name Specific name
1 - citácie v zahraničných publikáciách registrované v citačných indexoch Web of Science a v databáze SCOPUS DIAZ CAZANAS, R. - DELGADO SOBRINO, Daynier Rolando - CAGÁŇOVÁ, Dagmar - KOŠŤÁL, Peter - VELÍŠEK, Karol. Joint programming of production-maintenance tasks: a simulated annealing - based method. In International Journal of Simulation Modelling. Vol. 18, iss. 4 (2019), s. 666-677. ISSN 1726-4529 (2019: 2.492 - IF, Q2 - JCR Best Q, 0.624 - SJR, Q2 - SJR Best Q). V databáze: DOI: 10.2507/IJSIMM18(4)503 ; SCOPUS: 2-s2.0-85077641241 ; WOS: 000500961000010 ; CC: 000500961000010.
1 - citácie v zahraničných publikáciách registrované v citačných indexoch Web of Science a v databáze SCOPUS DIAZ CAZANAS, R. - DELGADO SOBRINO, Daynier Rolando - CAGÁŇOVÁ, Dagmar - KOŠŤÁL, Peter - VELÍŠEK, Karol. Joint programming of production-maintenance tasks: a simulated annealing - based method. In International Journal of Simulation Modelling. Vol. 18, iss. 4 (2019), s. 666-677. ISSN 1726-4529 (2019: 2.492 - IF, Q2 - JCR Best Q, 0.624 - SJR, Q2 - SJR Best Q). V databáze: DOI: 10.2507/IJSIMM18(4)503 ; SCOPUS: 2-s2.0-85077641241 ; WOS: 000500961000010 ; CC: 000500961000010.
1 - citácie v zahraničných publikáciách registrované v citačných indexoch Web of Science a v databáze SCOPUS DIAZ CAZANAS, R. - DELGADO SOBRINO, Daynier Rolando - CAGÁŇOVÁ, Dagmar - KOŠŤÁL, Peter - VELÍŠEK, Karol. Joint programming of production-maintenance tasks: a simulated annealing - based method. In International Journal of Simulation Modelling. Vol. 18, iss. 4 (2019), s. 666-677. ISSN 1726-4529 (2019: 2.492 - IF, Q2 - JCR Best Q, 0.624 - SJR, Q2 - SJR Best Q). V databáze: DOI: 10.2507/IJSIMM18(4)503 ; SCOPUS: 2-s2.0-85077641241 ; WOS: 000500961000010 ; CC: 000500961000010.
1 - citácie v zahraničných publikáciách registrované v citačných indexoch Web of Science a v databáze SCOPUS DIAZ CAZANAS, R. - DELGADO SOBRINO, Daynier Rolando - CAGÁŇOVÁ, Dagmar - KOŠŤÁL, Peter - VELÍŠEK, Karol. Joint programming of production-maintenance tasks: a simulated annealing - based method. In International Journal of Simulation Modelling. Vol. 18, iss. 4 (2019), s. 666-677. ISSN 1726-4529 (2019: 2.492 - IF, Q2 - JCR Best Q, 0.624 - SJR, Q2 - SJR Best Q). V databáze: DOI: 10.2507/IJSIMM18(4)503 ; SCOPUS: 2-s2.0-85077641241 ; WOS: 000500961000010 ; CC: 000500961000010.
1 - citácie v zahraničných publikáciách registrované v citačných indexoch Web of Science a v databáze SCOPUS RUŽAROVSKÝ, Roman - HOLUBEK, Radovan - DELGADO SOBRINO, Daynier Rolando - JANÍČEK, Matej. The simulation of conveyor control system using the virtual commissioning and virtual reality. In Advances in Science and Technology Research Journal. Vol. 12, iss. 4 (2018), s. 164-171. ISSN 2299-8624. V databáze: WOS: 000454363400020.
1 - citácie v zahraničných publikáciách registrované v citačných indexoch Web of Science a v databáze SCOPUS RUŽAROVSKÝ, Roman - HOLUBEK, Radovan - DELGADO SOBRINO, Daynier Rolando - JANÍČEK, Matej. The simulation of conveyor control system using the virtual commissioning and virtual reality. In Advances in Science and Technology Research Journal. Vol. 12, iss. 4 (2018), s. 164-171. ISSN 2299-8624. V databáze: WOS: 000454363400020.
1 - citácie v zahraničných publikáciách registrované v citačných indexoch Web of Science a v databáze SCOPUS RUŽAROVSKÝ, Roman - HOLUBEK, Radovan - DELGADO SOBRINO, Daynier Rolando - JANÍČEK, Matej. The simulation of conveyor control system using the virtual commissioning and virtual reality. In Advances in Science and Technology Research Journal. Vol. 12, iss. 4 (2018), s. 164-171. ISSN 2299-8624. V databáze: WOS: 000454363400020.
1 - citácie v zahraničných publikáciách registrované v citačných indexoch Web of Science a v databáze SCOPUS RUŽAROVSKÝ, Roman - HOLUBEK, Radovan - DELGADO SOBRINO, Daynier Rolando - JANÍČEK, Matej. The simulation of conveyor control system using the virtual commissioning and virtual reality. In Advances in Science and Technology Research Journal. Vol. 12, iss. 4 (2018), s. 164-171. ISSN 2299-8624. V databáze: WOS: 000454363400020.
3 - citácie v zahraničných publikáciách neregistrované v citačných indexoch RUŽAROVSKÝ, Roman - HOLUBEK, Radovan - DELGADO SOBRINO, Daynier Rolando - JANÍČEK, Matej. The simulation of conveyor control system using the virtual commissioning and virtual reality. In Advances in Science and Technology Research Journal. Vol. 12, iss. 4 (2018), s. 164-171. ISSN 2299-8624. V databáze: WOS: 000454363400020.
3 - citácie v zahraničných publikáciách neregistrované v citačných indexoch RUŽAROVSKÝ, Roman - HOLUBEK, Radovan - DELGADO SOBRINO, Daynier Rolando - JANÍČEK, Matej. The simulation of conveyor control system using the virtual commissioning and virtual reality. In Advances in Science and Technology Research Journal. Vol. 12, iss. 4 (2018), s. 164-171. ISSN 2299-8624. V databáze: WOS: 000454363400020.
3 - citácie v zahraničných publikáciách neregistrované v citačných indexoch RUŽAROVSKÝ, Roman - HOLUBEK, Radovan - DELGADO SOBRINO, Daynier Rolando - JANÍČEK, Matej. The simulation of conveyor control system using the virtual commissioning and virtual reality. In Advances in Science and Technology Research Journal. Vol. 12, iss. 4 (2018), s. 164-171. ISSN 2299-8624. V databáze: WOS: 000454363400020.
3 - citácie v zahraničných publikáciách neregistrované v citačných indexoch SVIATSKII, Vladislav - HOLUBEK, Radovan - RUŽAROVSKÝ, Roman - SOKOLOV, Michail M. Design of the forming device with a vertical blow head for the production of synthetic fibers intended for filter process in the mining industry. In Acta Montanistica Slovaca. Vol. 23, iss. 4 (2018), s. 412-421. ISSN 1335-1788 (2018: 0.938 - IF, Q3 - JCR Best Q, 0.410 - SJR, Q2 - SJR Best Q). V databáze: WOS: 000462617700007 ; SCOPUS: 2-s2.0-85064005447
3 - citácie v zahraničných publikáciách neregistrované v citačných indexoch VOYACHEK, I.I. - KOCHETKOV, D.V. - DELGADO SOBRINO, Daynier Rolando - MITYASOV, S.G. - ZVEROVSHHIKOV, V.Z. - RUŽAROVSKÝ, Roman - HORNÍK, J. Rational provision of functional properties of interference fit joints in case of assembly with implementation of anaerobic materials. In Novel Trends in Production Devices and Systems V (NTPDS V) : Special topic volume with invited peer reviewed papers only. 1. vyd. Zurich : Trans Tech Publications, 2019, S. 123-132. ISSN 0255-5476. ISBN 978-3-0357-1515-6. V databáze: SCOPUS: 2-s2.0-85066252367.
3 - citácie v zahraničných publikáciách neregistrované v citačných indexoch DELGADO SOBRINO, Daynier Rolando - RUŽAROVSKÝ, Roman - HOLUBEK, Radovan - VELÍŠEK, Karol. Into the early steps of virtual commissioning in Tecnomatix Plant Simulation using S7-PLCSIM advanced and STEP 7 TIA portal. In Modern Technologies in Manufacturing (MTeM 2019) : 14th International Conference, 09. - 12. October 2019, Cluj-Napoca, Romania. 1. vyd. United Kingdom : EDP Sciences, 2019, S. 1-6. ISBN 978-2-7598-9083-5. V databáze: DOI: 10.1051/matecconf/201929902005 ; WOS: 000568128200018.
3 - citácie v zahraničných publikáciách neregistrované v citačných indexoch HOLUBEK, Radovan - RUŽAROVSKÝ, Roman - DELGADO SOBRINO, Daynier Rolando. An innovative approach of industrial robot programming using virtual reality for the design of production systems layout. In Advances in Manufacturing II : Volume 1 - Solutions for Industry 4.0. Cham, Switzerland : Springer Nature Switzerland AG, 2019, S. 223-235. ISSN 2195-4356. ISBN 978-3-030-18714-9. V databáze: SCOPUS: 2-s2.0-85065297836 ; DOI: 10.1007/978-3-030-18715-6_19 ; WOS: 000490710700019.
1 - citácie v zahraničných publikáciách registrované v citačných indexoch Web of Science a v databáze SCOPUS KOŠŤÁL, Peter - MUDRIKOVÁ, Andrea - MICHAL, Dávid. Possibilities of intelligent flexible manufacturing systems. In IOP Conference Series: Materials Science and Engineering. Vol. 659, iss. 1 (2019), s. 1-8. ISSN 1757-8981 (2019: 0.198 - SJR). V databáze: DOI: 10.1088/1757-899X/659/1/012035 ; SCOPUS: 2-s2.0-85075340344.
1 - citácie v zahraničných publikáciách registrované v citačných indexoch Web of Science a v databáze SCOPUS MATÚŠOVÁ, Miriam - BUČÁNYOVÁ, Marcela - HRUŠKOVÁ, Erika. The future of industry with collaborative robots. In Modern Technologies in Manufacturing (MTeM 2019) : 14th International Conference, 09. - 12. October 2019, Cluj-Napoca, Romania. 1. vyd. United Kingdom : EDP Sciences, 2019, S. 1-6. ISBN 978-2-7598-9083-5. V databáze: DOI: 10.1051/matecconf/201929902008 ; WOS: 000568128200021.
1 - citácie v zahraničných publikáciách registrované v citačných indexoch Web of Science a v databáze SCOPUS MATÚŠOVÁ, Miriam - BUČÁNYOVÁ, Marcela - HRUŠKOVÁ, Erika. The future of industry with collaborative robots. In Modern Technologies in Manufacturing (MTeM 2019) : 14th International Conference, 09. - 12. October 2019, Cluj-Napoca, Romania. 1. vyd. United Kingdom : EDP Sciences, 2019, S. 1-6. ISBN 978-2-7598-9083-5. V databáze: DOI: 10.1051/matecconf/201929902008 ; WOS: 000568128200021.
1 - citácie v zahraničných publikáciách registrované v citačných indexoch Web of Science a v databáze SCOPUS MATÚŠOVÁ, Miriam - BUČÁNYOVÁ, Marcela - HRUŠKOVÁ, Erika. The future of industry with collaborative robots. In Modern Technologies in Manufacturing (MTeM 2019) : 14th International Conference, 09. - 12. October 2019, Cluj-Napoca, Romania. 1. vyd. United Kingdom : EDP Sciences, 2019, S. 1-6. ISBN 978-2-7598-9083-5. V databáze: DOI: 10.1051/matecconf/201929902008 ; WOS: 000568128200021.

Other outcomes (eg e-learning, websites, virtual laboratory, training, courses, workshops and the like.)

Output name Description of output Link
VR_1 Využitie VR https://youtu.be/ub8_vO0wL4E
VR_2 Využitie VR https://youtu.be/ub8_vO0wL4E
VR_3 Využitie VR https://youtu.be/ub8_vO0wL4E
PR_1 Priemyselné roboty a manipulátory https://youtube.com/playlist?list=PL3b5smwRDxB3a3y7FBbFK91eRsUvRCnNp
Programovanie Programovanie https://youtube.com/playlist?list=PL3b5smwRDxB3a3y7FBbFK91eRsUvRCnNp
AVS Automatizované výrobné a montážne systémy https://youtube.com/playlist?list=PL3b5smwRDxB3fXwvAduQJHhVhI6AsgvWs

Final evaluation of the commission KEGA

Splnil ciele výborne.

Filter

Filter