1. Page  1 RTLAB Real-Time System NXT segway School of Electronics Engineering College of IT Engineering Kyungpook National University Jun Sang ho (Rm) IT1-501 (T) 053-940 8864 (E) zesto@knu.ac.kr (W) rtlab.knu.ac.kr using gyro sensor

2. Page  2 RTLAB Real-Time System Content  Introduction & Preparation  System architect  MBD (Model-Based Design)  System  Modeling  Controller design  Describes model  Plant model  Controller model  Q & A

3. Page  3 RTLAB Real-Time System Introduction & Preparation Software Version Embedded Coder Robot NXT 3.14 nxtOSEK(previous name is LEJOS OSEK) 2.03 Cygwin 1.5.24 GNU ARM 4.0.2 MATLAB 7.5.0 Product VersionRelease MATLAB 7.5.0R2007b Control System Toolbox 8.0.1R2007b Simulink 7.0R2007b Real-Time Workshop 7.0R2007b Real-Time Workshop Embedded Coder 5.0R2007b Required Software and Products

4. Page  4 RTLAB Real-Time System System architect OSEK ISR/TaskEmbedded Coder Robot Interface TOPPERS OSEK I/O driver (GPT, DIO, I2C,SPI,UART,UDP…) NXT BIOS ARM7 NXT Hardware AVRBluecore I2CA/DPWM/DIO

5. Page  5 RTLAB Real-Time System MBD (Model-Based Design)

6. Page  6 RTLAB Real-Time System System SensorOutputUnit Data Type Maximum Sample [1/sec] Rotary Encoder angledegint321000 Ultrasonic Sensor distancecmint3250 Gyro Sensor angular velocity deg/ sec unit16300 ActuatorInputUnit Data Type Maximum Sample [1/sec] DC MotorPWM%int8500

7. Page  7 RTLAB Real-Time System Modeling

8. Page  8 RTLAB Real-Time System Controller design Result

9. Page  9 RTLAB Real-Time System Summary model

10. Page  10 RTLAB Real-Time System Plant Model

11. Page  11 RTLAB Real-Time System Controller Model Device InputSchedulerTask SubsystemDevice Output Initialization 4 ms20 ms100 ms

12. Page  12 RTLAB Real-Time System Q & A Thank you