MathWorks MATLAB and Simulink for LEGO

7/24/2019 MathWorks MATLAB and Simulink for LEGO

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2014 The MathWorks, Inc.

MATLAB and Simulink for Embedded

Systems and Robotics

Sean de Wolski

Application Engineer


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Agenda for today

MATLAB & SIMULINK

Theory to Practice

Trying out concepts from Controls, Signal Processing,

Communications, Mapping, etc.

Testing on low-cost hardware


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Demo: Exploring Rover


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Why an Embedded System?


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MathWorks products

MATLAB + Toolboxes Data Analysis and Visualization

Statistical analysis

Mathematical Modeling

Signal Processing

Etc.

Simulink + Blocksets System modeling, simulation, testing

and implementation

Communication system design

Physical system design

hydraulic,

mechanical, electrical, etc.

Controller designing, tuning and

implementation

Etc.


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MATLAB for Data Analysis and Visualization

Reporting and

Documentation

Outputs for Design

Deployment

ShareExplore & Discover

Data Analysis

& Modeling

Algorithm

Development

Application

Development

Files

Software

Hardware

Access

Code & Applications

Automate


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Simulink

Block-diagram environment

Model, simulate and analyze

multi-domain systems

Accurately design, implement, and test: Control systems Signal processing systems

Communications systems And other dynamic systems

Platform for Model-Based Design

The leading environment for modeling, simulating, andimplementing dynamic and embedded systems


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MATLAB & Simulink in industry

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Eurocopter: HelicoptersEaton: Hybrid Delivery Truck

Caterpillar: Construction Machine

IAV: CNG/LPG EMSGM: HVAC

Delphi: Common Rail Diesel

Dongfeng: BMSHoneywell: Flight Controls

GM: Hybrid Powertrain

Daimler: Vehicle ControllerLear: BCM

Vodafone: Telematics


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Targeting Hardware

ANSI-C Code generation forembedded microprocessors MATLAB Coder

Simulink Coder

Embedded Coder

HDL Code Generation for FPGAsand ASICs

HDL Coder HDL Verifier

PLC Code Generation Simulink PLC Coder


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Simulink Hardware Support for Project-

Based Learning

With just a click, your model moves fromSimulink onto hardware

Supported target hardware

Arduino Uno ($30), Mega 2560 ($65)

LEGO MINDSTORMS NXT ($280)

Raspberry Pi Model B ($35)

BeagleBoard-xM ($150)

PandaBoard ($180)

Gumstix Overo hardware ($180)

Available in Student Version

Run Simulink models onlow-cost target hardware


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Demo: MATLAB Rover


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We will discuss:

Part 1: Simulink for

Embedded Logic Design, Test and Implementation

Part 2: Stateflow for designing

Event-driven systems, asynchronous sequencing logic

Part 3: MATLAB, Simulink and Stateflow working together

Part 4: MATLAB for Data Analysis and Visualization Plotting data on maps


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LEGO MINDSTORMS NXT Technology

3 Actuator Ports

4 Sensor Ports

NXT Intelligent Brick

1 USB Port


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Part 1: Embedded Logic Design, Test and

Implementation

Design complex dynamicbehavior and program

robot

Task for robot: Maintain:

Stop if: . . <

Approach

Model intelligent behavior inSimulink

Program the robot using

Hardware Support Package

. .


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Part 2: State Machine Design with Stateflow

Designing event-driven systems

and sequencing logic

Task for robot:

Exist in IDLE or MOVING States Change States based on obstruction

distance

Approach

Design state machine using Stateflow

Program robot


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Part 3: Interfacing with MATLAB

Interface MATLAB and

Simulink

Task:

Control block parameters usingMATLAB commands

Log sensor data and save toMATLAB workspace

Approach

Use SET_PARAM command

Use SINK blocks with model inEXTERNAL MODE


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Part 4: Post-process data in MATLAB

MATLAB for Data Analysis

and Visualization

Task:

Display collected data on maps

Approach

Use tools in

Mapping Toolbox


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Demo: MATLAB Rover

Hardware Support Package forLEGO MINDSTORMS NXT

Simulink & Stateflow

Tune Parameters

Log Sensor Data

USB & Bluetooth

Change ModelParameters

MATLAB GUI

Analyze andVisualize

Logged Data

View Logged Data


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Video Demo: Arduino Bumper Bot


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Video Demo: Raspberry Pi Object Detection


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Key takeaways

MATLAB commands to remember>> targetinstaller

>> simulink

>> doc

To learn more MATLAB and Simulink based Interactive Tutorials

http://www.mathworks.com/academia/student_center/tutorials/

Supported hardware for project based learning:

http://www.mathworks.com/academia/hardware-resources/
http://www.mathworks.com/academia/student_center/tutorials/http://www.mathworks.com/academia/hardware-resources/http://www.mathworks.com/academia/hardware-resources/http://www.mathworks.com/academia/hardware-resources/http://www.mathworks.com/academia/student_center/tutorials/


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22 2014 The MathWorks Inc

MathWorks MATLAB and Simulink for LEGO

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