1 BEST National Conference 2011 Making the Most of BEST Robotics Library for Simulink Greg Young Auburn University Thursday Jul 21, 2011

Why MathWorks? BEST National Corporate Partner 2011 STEM Education Inspire students to pursue STEM careers. Give students access to industry standard tools. Provide simple, yet powerful programming tools. Introduce students to state-of-the-art design methods. Jul 21, 2011 Copyright © 2011 BEST Robotics, Inc. All rights reserved.

What They Do What They Do Technical Computing - Data Acquisition - Data Analysis - Mathematical Modeling - Algorithm Development - Parallel Computing - Desktop & Web Deployment Simulation and Model-Based Design - System Design and Simulation - Physical Modeling - Discrete-Event Simulation - Embedded Code Generation - Rapid Prototyping - HDL Code Generation and Verification - Verification, Validation and Test Technology ScienceEngineering Mathematics Simulink

Simulink Benefits Simulink Benefits Simple Programming Interface - graphical drag and drop More Efficient Design Flow - Parallel development - No waiting for robot be be built Simulation and Debug - Test your program without hardware - What-if scenarios are easy Advanced Control with StateFlow

Simulink Benefits Simulink Benefits Simple Programming Interface - graphical drag and drop More Efficient Design Flow - Parallel development - No waiting for robot be be built Simulation and Debug - Test your program without hardware - What-if scenarios are easy Advanced Control with StateFlow

Programming Programming Your RobotJoystick Control 2 Stick (Tank Style) control of wheels. 1 Button Gripper using servos. Robot Program / Behavior

Terminology Terminology Blocks – a pre-defined command or function Library – a group of blocks from which to choose Simulink Model – the robot program Simulate/Run – test the program’s behavior on the computer Generate Code – auto generation of C code from the Simulink model Compile & Download – put the program on the robot

Creating a Robot Program Compile/ Download

Demonstrate Demonstrate [Demonstration] show how quickly this behavior can be modeled. only a few clicks

Simulink Benefits Simulink Benefits Simple Programming Interface - graphical drag and drop More Efficient Design Flow - Parallel development - No waiting for robot be be built Simulation and Debug - Test your program without hardware - What-if scenarios are easy Advanced Control with StateFlow

Efficient Design Flow test & iterate Old workflowNew workflow Robot Team test & iterate Robot Team LocomotionArm/GripperSensors robot sharing program

Simulink Benefits Simulink Benefits Simple Programming Interface - graphical drag and drop More Efficient Design Flow - Parallel development - No waiting for robot be be built Simulation and Debug - Test your program without hardware - What-if scenarios are easy Advanced Control with StateFlow

What is Simulation? Model of Behavior Simulation is the imitation of some real thing, state of affairs, or process. The act of simulating something generally entails representing certain key characteristics or behaviours of a selected physical or abstract system. What if we do this?Imitate the robot behaviorWhat will the robot do? StimulusResponse

Demonstrate Demonstrate [Demonstration] show simulation blocks (stimulus/response) - sliders - gamepad block - toggle block - display - scope - field simulator - stateflow highlighting (later) What-if scenarios (e.g., wheel size) Subsystems (grouping blocks)

Simulink Benefits Simulink Benefits Simple Programming Interface - graphical drag and drop More Efficient Design Flow - Parallel development - No waiting for robot be be built Simulation and Debug - Test your program without hardware - What-if scenarios are easy Advanced Control with StateFlow

Demonstrate Demonstrate [Demonstration] show 2010 example - reading the 2010 Field Data port - semi-autonomous operations

Additional Resources  Weekly training webinars  See Announcementshttp://  BEST Robotics website   Menu: Participants -> Resources  Within Simulink – BEST UI  Direct Mathworks technical support button  Mathworks Representatives  Sandeep Hiremath,  Todd Atkins,

Making the Most of MathWorks Simulink Thank You For Attending Questions? Don’t forget to fill out your session survey

Creating a Robot Program Library Model Behavior Simulation Design Blocks Stimulus (Source) Blocks Response (Sink) Blocks Simulink ModelTesting without hardware iteration Generate CodeCompile/Download **workflow slide** **belong here??** **use Sandeep’s slide?**