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1© 2013 The MathWorks, Inc.
Low-Cost hardware connectivity with Simulink
MATLAB-Day RWTH AachenSebastian GroßOctober 24th, 2013
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LEGO Mindstorms NXT: a first demo
EDUCON 2013, Berlin, Germany
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A first demo: the “behind the scenes”
45 lines ofMATLAB
code, only
4
Contents
What is low-cost hardware?
Hardware and Simulink: a great combo
Install, simulate, and enjoy: work-flow
Let us help you get started
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What is low-cost hardware?
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Simulink supported low-cost hardware
R2011b 2012a 2012b 2013a 2013b
BeagleBoard
Raspberry Pi
Gumstix Overo
ArduinoBoard
PandaBoard
LEGO MindstormsNXT
€370€370
€185€185
€50€50€15€15
€135€135
€40€40
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Hardware capabilities and features
Actuators: servo motor {display, speaker}
Sensors:light, color, ultrasonic, sound, accelerometer, gyro, etc.
Outputs:PWM, digital,serial, servo
Inputs: analog, digital, serial, servo
Microcontroller ATmega328 (AVR)
Flash Memory 32 KB
SRAM 2 KB
EEPROM 1 KB
Clock Speed 16 MHz
Microcontroller AT91SAM7S256 (ARM)
Flash Memory 256 KB
SRAM 64 KB
Operating freq. 55 MHz
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Why low-cost hardware?
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Learn hands-on[retain knowledge]
1.
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ChallengeProvide students with hands-on control system design experience while keeping down costs
Solution Introduce a low-cost, portable laboratory module based on MATLAB, Simulink, and an aeropendulum
Results Equipment costs lowered Technical concepts better illustrated Transferable control design skills acquired
“These experiences do not require expensive lab equipment. In fact, we have found that MATLAB, Simulink, and a simple low-cost device are all that is needed.”
Dr. Eniko T. EnikovUniversity of Arizona
Link to article
Dr. Enikov and students experimenting with the aeropendulum in the lab.
Engaging Students in Hands-On Control System Design: University of Arizona
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Get a taste of the “real world”[do it like the pro’s]
2.
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Model-Based Design: first steps …
ModelModel SimulateSimulate
Generate codeGenerate codeTest on hardware
Test on hardware
Collect and understand
requirements
Collect and understand
requirements
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ChallengeProvide engineering students with a low-cost learning environment for studying the design and control of a variety of industrial robot manipulators
Solution Use MATLAB and Simulink to develop an integrated environment for simulating, visualizing, and optimizing designs using a reconfigurable robot
Results Students prepared for work in industry Complex optimizations automated Months of development time eliminated
“With MATLAB and Simulink we developed a low-cost design and simulation environment that enables students to apply theoretical aspects of kinematics, dynamics, and controls of robot manipulators in a realistic way, optimize their designs, and see those designs in action.”
Dr. Reza EmamiUniversity of Toronto
Link to user story
The University of Toronto Institute for Aerospace Studies reconfigurable robot manipulator.
Reconfigurable Robots at University of Toronto
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Foster success[by motivation]
3.
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RWTH Aachen students working with a Mindstorms NXT robot.
ChallengeEnabling 1st year students to apply theoretical concepts in math and signal processing in a hands-on experimental lab. Fostering soft skills by working in a team environment.
Solution Use MATLAB and LEGO Mindstorm NXT to build and program robots.
Results MATLAB programming skills rated high by students after course Motivation rated excellent to good by almost 90% of students Ability to link theoretical foundations to practical applications
“This high level of motivation is reflected in the number of extra hours the students devoted to their projects. We knew we had achieved our objectives when students demanded that we set up a workshop so that they could continue working with the robots in their free time.”
Univ.-Professor Dr.-Ing. Til AachRWTH Aachen University
Link to user story
LEGO Mindstorms NXT at RWTH Aachen: a success story
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How-to? The work flow
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What do you need to get it done, the bare essentials
Low-cost H/W (+ peripherals)MATLAB and Simulink (+ toolboxes)
targetinstallertargetupdater
Model, simulate, test, and enjoy
1 Get
2 Get
3 Run
4 Run
5 Code
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Setting-up target hardware: quick and easy
>> targetinstaller
>> targetupdater
DONE…
Installs all requirements
Updates firmware on target hardware
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LEGO Mindstorms NXT Simulink Support Package
Inputs, sensors
Outputs, actuators
Examples
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Raspberry Pi Simulink Support Package (13a)
Outputs, actuators
Inputs, sensors
Examples
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Arduino Support Package
Examples
Inputs, sensors
Outputs, actuators
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Arduino Ball-tracking demo
Control logic implemented in
StateFlow
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Arduino Ball-tracking demo: on-target code (controller)
PI controller running on Arduino board
Input
Output
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Ressources and support to get started
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Academia web page
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Hardware Support ressources
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MATLAB Central, File Exchange and other goodies
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Support is available right “next door”
Sebastian Gross: [email protected]
Tech support: +49-89-45235-6700 + press 4
Customer service: +49-89-45235-6700 + press 3
: MATLAB/Simulink in education
: specific technical questions
: and for everything else
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Get low-cost H/Wtoday and start enjoying
with Simulink