Low-Cost hardware connectivity

with Simulink

MATLAB-Day RWTH Aachen

Sebastian Gro
October 24th, 2013

2013 The MathWorks, Inc.1

LEGO Mindstorms NXT: a first demo

EDUCON 2013, Berlin, Germany

2

A first demo: the behind the scenes

45 lines of
MATLAB
code, only

Contents
What is

low-cost hardware?

Hardware and Simulink: a

Install, simulate, and
Let

great combo

enjoy: work-flow

us help you get started

What is low-cost hardware?

Simulink supported low-cost hardware

50

15

BeagleBoard

40
ArduinoBoard
Raspberry Pi

R2011b

2012a

2012b

2013a

2013b

Gumstix Overo
PandaBoard
LEGO Mindstorms
NXT

135
185

370

Hardware capabilities and features

Microcontroller

AT91SAM7S256 (ARM)

Flash Memory

256 KB

SRAM

64 KB

Operating freq.

55 MHz

Actuators:
servo motor {display, speaker}

Inputs:
analog, digital,
serial, servo

Sensors:
light, color,
ultrasonic, sound,
accelerometer, gyro, etc.

Outputs:
PWM, digital,
serial, servo

Microcontroller

ATmega328 (AVR)

Flash Memory

32 KB

SRAM

2 KB

EEPROM

1 KB

Clock Speed

16 MHz

Why low-cost hardware?

1. Learn hands-on
[retain knowledge]

Engaging Students in Hands-On

Control System Design:
University of Arizona
Challenge
Provide students with hands-on control system design
experience while keeping down costs

Dr. Enikov and students experimenting with the

aeropendulum in the lab.

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. Enikov
University of Arizona

Link to article

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2. Get a taste of the

real world
[do it like the pros]
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Model-Based Design: first steps

Collect and
understand
requirements

Model

Simulate

Test on
hardware

Generate code
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Reconfigurable Robots at
University of Toronto
Challenge
Provide engineering students with a low-cost learning
environment for studying the design and control of a variety of
industrial robot manipulators

The University of Toronto Institute for

Aerospace Studies reconfigurable robot
manipulator.

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 Emami
University of Toronto

Link to user story

13

3. Foster success
[by motivation]

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LEGO Mindstorms NXT at

RWTH Aachen: a success story
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 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

RWTH Aachen students working with a

Mindstorms NXT robot.

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.

Link to user story

Univ.-Professor Dr.-Ing. Til Aach

RWTH Aachen University
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How-to? The work flow

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What do you need to get it done, the bare essentials

1 Get
2 Get

Low-cost H/W (+ peripherals)

MATLAB and Simulink (+ toolboxes)

4 Run

targetinstaller
targetupdater

5 Code

Model, simulate, test, and enjoy

3 Run

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Setting-up target hardware: quick and easy

>> targetinstaller
Installs all requirements

>> targetupdater
Updates firmware on target hardware

DONE
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LEGO Mindstorms NXT Simulink Support Package

Inputs, sensors

Examples

Outputs, actuators

19

Raspberry Pi Simulink Support Package (13a)

Inputs, sensors

Outputs, actuators

Examples

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Arduino Support Package

Inputs, sensors
Outputs, actuators
Examples

21

Arduino Ball-tracking demo

Control logic
implemented in
StateFlow
22

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

: MATLAB/Simulink in education

Sebastian Gross:

sebastian.gross@mathworks.de

: specific technical questions

Tech support:

+49-89-45235-6700 + press 4

: and for everything else

Customer service: +49-89-45235-6700 + press 3

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low-cost H/W

Get
today and start enjoying
with

Simulink
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