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

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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 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: sebastian.gross@mathworks.de

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