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Martin Goubej

University of West Bohemia, Department of Cybernetics, Researcher

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Working in research and development in the field of automation and control systems, robotics, mechatronics, electrical drives, modelling and simulation of dynamical systems. Conducting basic and applied research in terms of national and international R
Address: Pilsen, Plzensky kraj, Czech Republic

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University of Hamburg

Kansas State University

University of Cologne

Evangelos Papadopoulos

National Technical University of Athens

Iolanda Craifaleanu

Technical University Of Civil Engineering, Bucharest

Oxford Brookes University

Miguel Á. Quintanilla Fisac

University of Salamanca

Rini Akmeliawati

International Islamic University Malaysia

Mikail F Lumentut

National Taiwan University

Hossein Sadegh Lafmejani

Università degli Studi di Parma (Italy)

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Papers by Martin Goubej

Robust and optimal design of fixed structure controllers in collocated motion systems

Maintenance Reduction of Medical Robotic Manipulators through Automatic Data-Driven Updates of Feedforward Control

2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA)

The IMOCO4.E reference framework for intelligent motion control systems

2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA)

Frekvenční identifikace kmitajících elektromechanických systémů

Automated Drone Battery Management System—Droneport: Technical Overview

Drones

The popularity of using vertical take-off and landing unmanned aerial systems continues to rise. ... more The popularity of using vertical take-off and landing unmanned aerial systems continues to rise. Although the use of these devices seems to be almost limitless, the main drawback is still the battery capacity and the need to replace or recharge it several times per hour. This article provides a technical overview of the development of an experimental mechatronic system for automatic drone battery management called Droneport. It was developed as a system with a landing platform, automatic battery exchange and recharging outside the drone, allowing a quick return to the mission. The first part presents its mechanical design, installed instrumentation and software environment. The next part is devoted to the description of the individual hardware components, highlighting the specific problems that had to be solved to optimize size, weight and robustness requirements. The final section summarizes our observations regarding the contribution of this tool to the autonomy of drones or UAVs ...

Raspberry Pi-based Motion Control Testbed for Mechatronics Education

IFAC-PapersOnLine, 2022

The paper deals with the development of an experimental benchmark mechatronic system that was emp... more The paper deals with the development of an experimental benchmark mechatronic system that was employed in control courses taught at our university. The first part introduces its mechanical design, installed instrumentation and software environment. Methodology of its use in terms of our control courses curriculum follows, highlighting particular problems that students can solve during their classes. The last section summarises our observations regarding the contribution of this tool to the effectiveness of the education process.

Robustní řízení pohybu pružných elektromechanických soustav

Disertační práce se zabývá problematikou řízení pohybu elektromechanických systémů s kmitavou dyn... more Disertační práce se zabývá problematikou řízení pohybu elektromechanických systémů s kmitavou dynamikou způsobenou poddajností poháněné soustavy. Cílem je vyvinout efektivní a spolehlivé algoritmy pro automatickou identifikaci systému a návrh robustního regulátoru použitelné pro široké spektrum průmyslových aplikací sysémů řízení pohybu. Dosažené teoretické výsledky jsou popsány ve třech sekcích věnovaných automatické identifikaci, pasivnímu tlumení vibrací s použitím metody tvarování vstupní veličiny a aktivního zpětnovazebního tlumení. Použití navržených metod je demonstrováno řadou numerických simulací a experimentálních výsledků.ObhájenoThe main topic of the thesis is a problem of motion control of electromechanical systems with oscillatory dynamics caused by a mechanical compliance of the driven load. The goal is to develop effective and reliable algorithms for automatic system identification and robust controller synthesis applicable to a wide range of industrial motion contro...

Tvarovací filtry pro řízení elektrického pohonu s pružnou zátěží

Článek se zabývá řízením pohybu mechanických systémů s pružnou strukturou. Cílem je navrhnout tva... more Článek se zabývá řízením pohybu mechanických systémů s pružnou strukturou. Cílem je navrhnout tvarovací filtr vstupního signálu, který zajistí minimalizaci úrovně reziduálních vybrací, vybuzených pohybem pružných částí. Filtr je navržen v časové oblasti analýzou impulsní funkce. Aplikace navrženého filtru jsou demonstrovány na dvou příkladech systému s flexibilní konstrukcí - řízení visutého jeřábu se zavěšeným břemenem a elektrický pohon s připojenou pružnou hřídelí. Studován je efekt nelinearit v cestě signálu způsobený saturací smyčkových servo-regulátorů. Diskutovány jsou různé možnosti umístění filtru.This paper deals with control of flexible mechanical systems. The goal is to modify the input signal in order to minimize the residual vibrations excited during a motion of a system with flexible parts. The filter is designed in the time domain via impulse function analysis. Possible application of the proposed solution is demonstrated on two examples of flexible system - control ...

Polynomial interpolation method for synthesis of electronic CAM profiles

Aktivní sítě nabízejí nové možnosti, kterým klasické sítě nemohou konkurovat. Díky stále rychlejš... more Aktivní sítě nabízejí nové možnosti, kterým klasické sítě nemohou konkurovat. Díky stále rychlejšímu hardware a zde zmíněnými bezpečnostními opatřeními se aktivní sítě zbavují svých dvou největších problémů. Jejich budoucnost tak čím dál tím více záleží na přijetí veřejností. Dlužno poznamenat, že využívání programovatelnosti sítě doprovázejí síťové technologie už od prvních konceptů sdílení zátěže-Worms.

Nový přístup ustavování vačkových polotovarů

Uvedená studie ukazuje podstatný vliv osové síly na stabilitu VT. Tlumení má vliv na symetrii sys... more

Affordable Motion Tracking System for Intuitive Programming of Industrial Robots

Sensors

The paper deals with a lead-through method of programming for industrial robots. The goal is to a... more The paper deals with a lead-through method of programming for industrial robots. The goal is to automatically reproduce 6DoF trajectories of a tool wielded by a human operator demonstrating a motion task. We present a novel motion-tracking system built around the HTC Vive pose estimation system. Our solution allows complete automation of the robot teaching process. Specific algorithmic issues of system calibration and motion data post-processing are also discussed, constituting the paper’s theoretical contribution. The motion tracking system is successfully deployed in a pilot application of robot-assisted spray painting.

Friction compensation in mechatronic systems

2017 18th International Carpathian Control Conference (ICCC), 2017

The paper deals with the model-based compensation of friction in velocity and position controlled... more The paper deals with the model-based compensation of friction in velocity and position controlled servomechanisms. A class of single degree of freedom mechanical systems with friction nonlinearity acting at the plant input is considered. Two approaches to friction compensation using dynamic model-based feedforward control and disturbance observer based feedback control are studied and compared to each other. Experimental results with an industrial grade robotic manipulator demonstrate the performance of the proposed methods.

PI Plus Repetitive Control Design: H-infinity Regions Approach

2019 22nd International Conference on Process Control (PC19), 2019

The paper deals with a class of plug-in type repetitive controllers intended for servo systems wh... more The paper deals with a class of plug-in type repetitive controllers intended for servo systems which follow periodic reference signals or compensate periodic exogenous disturbances. Proportional-integral (PI) feedback controller is complemented by an internal model of a generic periodic signal aiming at perfect asymptotic tracking or disturbance rejection. A novel design method is proposed allowing a simultaneous tuning of the PI controller and the repetitive control part. The design requirements can be formulated in the frequency domain as proper loop-shaping inequalities defining constraints on important closed-loop sensitivity functions. These constraints are translated directly into the parametric plane of the controller allowing to derive a complete set of admissible controllers. The proposed method is demonstrated in a case study of a flexible motion system.

Model-based system engineering in control education using HIL simulators

IFAC-PapersOnLine, 2020

Nowadays, model-based and knowledge-based system engineering bring completely new demands also to... more Nowadays, model-based and knowledge-based system engineering bring completely new demands also to the master degree teaching process and programs. Specifically, it is necessary to establish gluing technologies between individual master degree courses while full STEM education scope is covered. Since huge changes in educational system are often subject to complex, time demanding evaluation and approval process, there is usually significant delay between actual industrial needs and time when universities are able to deliver to the market engineers with required knowledge and curricula. Consequently, solutions which can be implemented in actual courses without huge investments of money and time is what educators should strive for. This paper shows how simple hardware-in-the-loop (HIL) simulators may help during the whole training period while respecting needs of already established courses dealing e.g. with modeling and simulation, control design, industrial IT and communication, control HW and electronics, sensors and actuators. The concept is demonstrated on several examples of already proven procedures in primary and second control courses.

Acceleration Feedback in PID Controlled Elastic Drive Systems ⁎ ⁎This work was supported from I-MECH project by ECSEL Joint Undertaking under grant agreement No 737453

IFAC-PapersOnLine, 2018

This paper deals with the use of a load acceleration feedback to overcome fundamental performance... more This paper deals with the use of a load acceleration feedback to overcome fundamental performance limitations of elastic servo drive systems that occur when employing a standard PI velocity controller. Structured H-infinity optimization approach is used to develop an optimal control strategy consisting of a PI controller and a static acceleration feedback. Qualitative and quantitative analysis of potential benefits for the case of a two-mass system is provided. Effects of higher resonance modes is studied as well. Experimental results demonstrate the application of the proposed methodology to a flexible arm manipulator.

Essential challenges in motion control education

IFAC-PapersOnLine, 2019

Smart mechatronic systems and applications with actively controlled moving elements face increasi... more Smart mechatronic systems and applications with actively controlled moving elements face increasing demands on size, motion speed, precision, adaptability, self-diagnostic, connectivity, new cognitive features, etc. Fulfillment of these requirements is essential for building smart, safe and reliable production complexes. This, however, implies completely new demands on control curricula of master degree students. The aim of this paper is to identify main gaps in motion control education and industrial practice with specific focus on multidisciplinarity, i.e., contribute to a STEM education ecosystem

Raspberry Pi-based HIL simulators for control education

IFAC-PapersOnLine, 2019

Excluding hands-on experience with physical plants from control education is tempting in many asp... more Excluding hands-on experience with physical plants from control education is tempting in many aspects, but at the same time it is very dangerous. This paper explains why and recommends a compromise between demanding maintenance of physical plants for students to control and relying on pure numeric simulations within the whole curriculum. The golden mean might be the use of real-time simulators with physical inputs and outputs, i.e. hardware-inthe-loop (HIL) simulators. Three examples of HIL simulators are presented, covering a coupled tanks model, a quarter-car model and a nuclear reactor model.

Fundamental performance limitations in PID controlled elastic two-mass systems

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016

The paper deals with analysis of fundamental performance limitations of elastic servo drives with... more The paper deals with analysis of fundamental performance limitations of elastic servo drives with significant mechanical compliance in the driven load. Two-mass system is chosen as a general representation of a flexible mechanism with oscillatory dynamics. A problem of PID compensator tuning is considered since this control algorithm is still prevalent in industrial motion control systems. The provided analysis reveals an essential importance of the resonance ratio parameter and derives its range suitable for convenient controller design. The theoretical analysis is supported by experimental results.

Unified framework for generation of 3D web visualization for mechatronic systems

Journal of Physics: Conference Series, 2015

The paper deals with development of a unified framework for generation of 3D visualizations of co... more The paper deals with development of a unified framework for generation of 3D visualizations of complex mechatronic systems. It provides a high-fidelity representation of executed motion by allowing direct employment of a machine geometry model acquired from a CAD system. Open-architecture multi-platform solution based on latest web standards is achieved by utilizing a web browser as a final 3D renderer. The results are applicable both for simulations and development of real-time human machine interfaces. Case study of autonomous underwater vehicle control is provided to demonstrate the applicability of the proposed approach.

Robust and optimal design of fixed structure controllers in collocated motion systems

Maintenance Reduction of Medical Robotic Manipulators through Automatic Data-Driven Updates of Feedforward Control

2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA)

The IMOCO4.E reference framework for intelligent motion control systems

2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA)

Frekvenční identifikace kmitajících elektromechanických systémů

Automated Drone Battery Management System—Droneport: Technical Overview

Drones

The popularity of using vertical take-off and landing unmanned aerial systems continues to rise. ... more The popularity of using vertical take-off and landing unmanned aerial systems continues to rise. Although the use of these devices seems to be almost limitless, the main drawback is still the battery capacity and the need to replace or recharge it several times per hour. This article provides a technical overview of the development of an experimental mechatronic system for automatic drone battery management called Droneport. It was developed as a system with a landing platform, automatic battery exchange and recharging outside the drone, allowing a quick return to the mission. The first part presents its mechanical design, installed instrumentation and software environment. The next part is devoted to the description of the individual hardware components, highlighting the specific problems that had to be solved to optimize size, weight and robustness requirements. The final section summarizes our observations regarding the contribution of this tool to the autonomy of drones or UAVs ...

Raspberry Pi-based Motion Control Testbed for Mechatronics Education

IFAC-PapersOnLine, 2022

The paper deals with the development of an experimental benchmark mechatronic system that was emp... more The paper deals with the development of an experimental benchmark mechatronic system that was employed in control courses taught at our university. The first part introduces its mechanical design, installed instrumentation and software environment. Methodology of its use in terms of our control courses curriculum follows, highlighting particular problems that students can solve during their classes. The last section summarises our observations regarding the contribution of this tool to the effectiveness of the education process.

Robustní řízení pohybu pružných elektromechanických soustav

Disertační práce se zabývá problematikou řízení pohybu elektromechanických systémů s kmitavou dyn... more Disertační práce se zabývá problematikou řízení pohybu elektromechanických systémů s kmitavou dynamikou způsobenou poddajností poháněné soustavy. Cílem je vyvinout efektivní a spolehlivé algoritmy pro automatickou identifikaci systému a návrh robustního regulátoru použitelné pro široké spektrum průmyslových aplikací sysémů řízení pohybu. Dosažené teoretické výsledky jsou popsány ve třech sekcích věnovaných automatické identifikaci, pasivnímu tlumení vibrací s použitím metody tvarování vstupní veličiny a aktivního zpětnovazebního tlumení. Použití navržených metod je demonstrováno řadou numerických simulací a experimentálních výsledků.ObhájenoThe main topic of the thesis is a problem of motion control of electromechanical systems with oscillatory dynamics caused by a mechanical compliance of the driven load. The goal is to develop effective and reliable algorithms for automatic system identification and robust controller synthesis applicable to a wide range of industrial motion contro...

Tvarovací filtry pro řízení elektrického pohonu s pružnou zátěží

Článek se zabývá řízením pohybu mechanických systémů s pružnou strukturou. Cílem je navrhnout tva... more Článek se zabývá řízením pohybu mechanických systémů s pružnou strukturou. Cílem je navrhnout tvarovací filtr vstupního signálu, který zajistí minimalizaci úrovně reziduálních vybrací, vybuzených pohybem pružných částí. Filtr je navržen v časové oblasti analýzou impulsní funkce. Aplikace navrženého filtru jsou demonstrovány na dvou příkladech systému s flexibilní konstrukcí - řízení visutého jeřábu se zavěšeným břemenem a elektrický pohon s připojenou pružnou hřídelí. Studován je efekt nelinearit v cestě signálu způsobený saturací smyčkových servo-regulátorů. Diskutovány jsou různé možnosti umístění filtru.This paper deals with control of flexible mechanical systems. The goal is to modify the input signal in order to minimize the residual vibrations excited during a motion of a system with flexible parts. The filter is designed in the time domain via impulse function analysis. Possible application of the proposed solution is demonstrated on two examples of flexible system - control ...

Polynomial interpolation method for synthesis of electronic CAM profiles

Aktivní sítě nabízejí nové možnosti, kterým klasické sítě nemohou konkurovat. Díky stále rychlejš... more Aktivní sítě nabízejí nové možnosti, kterým klasické sítě nemohou konkurovat. Díky stále rychlejšímu hardware a zde zmíněnými bezpečnostními opatřeními se aktivní sítě zbavují svých dvou největších problémů. Jejich budoucnost tak čím dál tím více záleží na přijetí veřejností. Dlužno poznamenat, že využívání programovatelnosti sítě doprovázejí síťové technologie už od prvních konceptů sdílení zátěže-Worms.

Nový přístup ustavování vačkových polotovarů

Uvedená studie ukazuje podstatný vliv osové síly na stabilitu VT. Tlumení má vliv na symetrii sys... more

Affordable Motion Tracking System for Intuitive Programming of Industrial Robots

Sensors

The paper deals with a lead-through method of programming for industrial robots. The goal is to a... more The paper deals with a lead-through method of programming for industrial robots. The goal is to automatically reproduce 6DoF trajectories of a tool wielded by a human operator demonstrating a motion task. We present a novel motion-tracking system built around the HTC Vive pose estimation system. Our solution allows complete automation of the robot teaching process. Specific algorithmic issues of system calibration and motion data post-processing are also discussed, constituting the paper’s theoretical contribution. The motion tracking system is successfully deployed in a pilot application of robot-assisted spray painting.

Friction compensation in mechatronic systems

2017 18th International Carpathian Control Conference (ICCC), 2017

The paper deals with the model-based compensation of friction in velocity and position controlled... more The paper deals with the model-based compensation of friction in velocity and position controlled servomechanisms. A class of single degree of freedom mechanical systems with friction nonlinearity acting at the plant input is considered. Two approaches to friction compensation using dynamic model-based feedforward control and disturbance observer based feedback control are studied and compared to each other. Experimental results with an industrial grade robotic manipulator demonstrate the performance of the proposed methods.

PI Plus Repetitive Control Design: H-infinity Regions Approach

2019 22nd International Conference on Process Control (PC19), 2019

The paper deals with a class of plug-in type repetitive controllers intended for servo systems wh... more The paper deals with a class of plug-in type repetitive controllers intended for servo systems which follow periodic reference signals or compensate periodic exogenous disturbances. Proportional-integral (PI) feedback controller is complemented by an internal model of a generic periodic signal aiming at perfect asymptotic tracking or disturbance rejection. A novel design method is proposed allowing a simultaneous tuning of the PI controller and the repetitive control part. The design requirements can be formulated in the frequency domain as proper loop-shaping inequalities defining constraints on important closed-loop sensitivity functions. These constraints are translated directly into the parametric plane of the controller allowing to derive a complete set of admissible controllers. The proposed method is demonstrated in a case study of a flexible motion system.

Model-based system engineering in control education using HIL simulators

IFAC-PapersOnLine, 2020

Nowadays, model-based and knowledge-based system engineering bring completely new demands also to... more Nowadays, model-based and knowledge-based system engineering bring completely new demands also to the master degree teaching process and programs. Specifically, it is necessary to establish gluing technologies between individual master degree courses while full STEM education scope is covered. Since huge changes in educational system are often subject to complex, time demanding evaluation and approval process, there is usually significant delay between actual industrial needs and time when universities are able to deliver to the market engineers with required knowledge and curricula. Consequently, solutions which can be implemented in actual courses without huge investments of money and time is what educators should strive for. This paper shows how simple hardware-in-the-loop (HIL) simulators may help during the whole training period while respecting needs of already established courses dealing e.g. with modeling and simulation, control design, industrial IT and communication, control HW and electronics, sensors and actuators. The concept is demonstrated on several examples of already proven procedures in primary and second control courses.

Acceleration Feedback in PID Controlled Elastic Drive Systems ⁎ ⁎This work was supported from I-MECH project by ECSEL Joint Undertaking under grant agreement No 737453

IFAC-PapersOnLine, 2018

This paper deals with the use of a load acceleration feedback to overcome fundamental performance... more This paper deals with the use of a load acceleration feedback to overcome fundamental performance limitations of elastic servo drive systems that occur when employing a standard PI velocity controller. Structured H-infinity optimization approach is used to develop an optimal control strategy consisting of a PI controller and a static acceleration feedback. Qualitative and quantitative analysis of potential benefits for the case of a two-mass system is provided. Effects of higher resonance modes is studied as well. Experimental results demonstrate the application of the proposed methodology to a flexible arm manipulator.

Essential challenges in motion control education

IFAC-PapersOnLine, 2019

Smart mechatronic systems and applications with actively controlled moving elements face increasi... more Smart mechatronic systems and applications with actively controlled moving elements face increasing demands on size, motion speed, precision, adaptability, self-diagnostic, connectivity, new cognitive features, etc. Fulfillment of these requirements is essential for building smart, safe and reliable production complexes. This, however, implies completely new demands on control curricula of master degree students. The aim of this paper is to identify main gaps in motion control education and industrial practice with specific focus on multidisciplinarity, i.e., contribute to a STEM education ecosystem

Raspberry Pi-based HIL simulators for control education

IFAC-PapersOnLine, 2019

Excluding hands-on experience with physical plants from control education is tempting in many asp... more Excluding hands-on experience with physical plants from control education is tempting in many aspects, but at the same time it is very dangerous. This paper explains why and recommends a compromise between demanding maintenance of physical plants for students to control and relying on pure numeric simulations within the whole curriculum. The golden mean might be the use of real-time simulators with physical inputs and outputs, i.e. hardware-inthe-loop (HIL) simulators. Three examples of HIL simulators are presented, covering a coupled tanks model, a quarter-car model and a nuclear reactor model.

Fundamental performance limitations in PID controlled elastic two-mass systems

2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016

The paper deals with analysis of fundamental performance limitations of elastic servo drives with... more The paper deals with analysis of fundamental performance limitations of elastic servo drives with significant mechanical compliance in the driven load. Two-mass system is chosen as a general representation of a flexible mechanism with oscillatory dynamics. A problem of PID compensator tuning is considered since this control algorithm is still prevalent in industrial motion control systems. The provided analysis reveals an essential importance of the resonance ratio parameter and derives its range suitable for convenient controller design. The theoretical analysis is supported by experimental results.

Unified framework for generation of 3D web visualization for mechatronic systems

Journal of Physics: Conference Series, 2015

The paper deals with development of a unified framework for generation of 3D visualizations of co... more The paper deals with development of a unified framework for generation of 3D visualizations of complex mechatronic systems. It provides a high-fidelity representation of executed motion by allowing direct employment of a machine geometry model acquired from a CAD system. Open-architecture multi-platform solution based on latest web standards is achieved by utilizing a web browser as a final 3D renderer. The results are applicable both for simulations and development of real-time human machine interfaces. Case study of autonomous underwater vehicle control is provided to demonstrate the applicability of the proposed approach.