1 BEST National Conference 2011 Making the Most of BEST Robotics Library for Simulink Greg Young Auburn University Thursday Jul 21, 2011

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BEST National Conference 2011BEST National Conference 2011

Making the Most ofBEST Robotics Library for Simulink

Greg Young

Auburn UniversityThursday Jul 21, 2011

Why MathWorks?Why MathWorks?

BEST National Corporate Partner 2011

STEMEducation

Inspire students to pursue STEM careers.Give students access to industry standard tools.Provide simple, yet powerful programming tools.Introduce students to state-of-the-art design methods.

Jul 21, 2011 Copyright © 2011 BEST Robotics, Inc. All rights reserved.

What They DoWhat They Do

Technical Computing- Data Acquisition- Data Analysis- Mathematical Modeling- Algorithm Development- Parallel Computing- Desktop & Web Deployment

Simulation and Model-Based Design- System Design and Simulation- Physical Modeling- Discrete-Event Simulation- Embedded Code Generation- Rapid Prototyping- HDL Code Generation and Verification- Verification, Validation and Test

Technology

Science

Engineering

Mathematics

Simulink

Simulink BenefitsSimulink Benefits

• Simple Programming Interface- graphical drag and drop

• More Efficient Design Flow- Parallel development- No waiting for robot be be built

• Simulation and Debug- Test your program without hardware- What-if scenarios are easy

• Advanced Control with StateFlow






ProgrammingProgramming

Your RobotJoystick Control

2 Stick (Tank Style) control of wheels.1 Button Gripper using servos.

Robot Program / Behavior

TerminologyTerminology

• Blocks – a pre-defined command or function

• Library – a group of blocks from which to choose

• Simulink Model – the robot program

• Simulate/Run – test the program’s behavior on the computer

• Generate Code – auto generation of C code from the Simulink model

• Compile & Download – put the program on the robot

Creating a Robot ProgramCreating a Robot Program

Compile/Download

DemonstrateDemonstrate

[Demonstration]• show how quickly this behavior can be modeled.• only a few clicks






Efficient Design FlowEfficient Design Flowte

st &

iter

ate

Old workflow New workflow

Robot

RobotTeam

test

& it

erat

e Robot Robot

Team

Locomotion Arm/Gripper Sensors

robot sharing

program program






What is Simulation?What is Simulation?

Model ofBehavior

Simulation is the imitation of some real thing, state of affairs, or process.

The act of simulating something generally entails representing certain key characteristics or behaviours of a selected physical or abstract system.

What if we do this? Imitate the robot behavior What will the robot do?

Stimulus Response


[Demonstration]• show simulation blocks (stimulus/response)

- sliders- gamepad block- toggle block- display- scope- field simulator- stateflow highlighting (later)

•What-if scenarios (e.g., wheel size)• Subsystems (grouping blocks)







[Demonstration]• show 2010 example

- reading the 2010 Field Data port- semi-autonomous operations

Additional ResourcesAdditional Resources Weekly training webinars

See http://www.bestinc.org Announcements

BEST Robotics website http://www.bestinc.org Menu: Participants -> Resources

Within Simulink – BEST UI Direct Mathworks technical support button

Mathworks Representatives Sandeep Hiremath, [email protected] Todd Atkins, [email protected]

http://www.bestinc.org/

http://www.bestinc.org/

mailto:[email protected]

mailto:[email protected]

Making the Most ofMaking the Most ofMathWorks SimulinkMathWorks Simulink

Thank You For Attending

Questions?

Don’t forget to fill out your session survey

Creating a Robot ProgramCreating a Robot Program

LibraryModel

Behavior SimulationDesign BlocksStimulus (Source) BlocksResponse (Sink) Blocks

Simulink Model Testing without hardware

iteration

Generate CodeCompile/Download

**workflow slide****belong here??****use Sandeep’s slide?**

Documents

1 BEST National Conference 2011 Making the Most of BEST Robotics Library for Simulink Greg Young Auburn University Thursday Jul 21, 2011