Anbindung Hardware an Simulink

8/10/2019 Anbindung Hardware an Simulink

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2013 The MathWorks, Inc.

Low-Cost hardware connectivity

with Simulink

MATLAB-Day RWTH Aachen

Sebastian GroOctober 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


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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 Mindstorms

NXT

370

370

185

185

50

5015

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 KBEEPROM 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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Challenge

Provide students with hands-on control system design

experience while keeping down costs

Solution

Introduce a low-cost, portable laboratory modulebased 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 pros]

2.


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Model-Based Design: first steps

ModelModel SimulateSimulate

Generate codeGenerate codeTest on

hardware

Test on

hardware

Collect andunderstand

requirements

Collect andunderstand

requirements


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Challenge

Provide 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 integratedenvironment 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 seethose designs in action.

Dr. Reza Emami

University of TorontoLink 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.

Challenge

Enabling 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 programrobots.

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 couldcontinue working with the robots in

their free time.

Univ.-Professor Dr.-Ing. Til Aach

RWTH 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)

targetinstaller

targetupdater

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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Raspberry Pi Simulink Support Package (13a)

Outputs, actuators

Inputs, sensors

Examples


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Arduino Ball-tracking demo

Control logic

implemented in

StateFlow


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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/W

today and start enjoying

with Simulink

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Anbindung Hardware an Simulink