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

2. 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.

3. 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

4. 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

5. 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

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

7. 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

8. Creating a Robot Program Compile/ Download

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

10. 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

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

12. 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

13. 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

14. 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)

15. 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

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

17. Additional Resources  Weekly training webinars  See http://www.bestinc.org Announcementshttp://www.bestinc.org  BEST Robotics website  http://www.bestinc.org http://www.bestinc.org  Menu: Participants -> Resources  Within Simulink – BEST UI  Direct Mathworks technical support button  Mathworks Representatives  Sandeep Hiremath, sandeep.hiremath@mathworks.comsandeep.hiremath@mathworks.com  Todd Atkins, todd.atkins@mathworks.comtodd.atkins@mathworks.com

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

19. 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?**