MATLAB and Simulink for Embedded

Systems and Robotics

Sean de Wolski
Application Engineer

2014 The MathWorks, Inc.1

Agenda for today

MATLAB & SIMULINK

Theory to Practice
Trying out concepts from Controls, Signal Processing,
Communications, Mapping, etc.

Testing on low-cost hardware

Demo: Exploring Rover

Why an Embedded System?

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.

MATLAB for Data Analysis and Visualization

Access

Explore & Discover

Files
Data Analysis
& Modeling

Software

Algorithm
Development

Share
Reporting and
Documentation

Outputs for Design

Code & Applications

Hardware

Application
Development

Deployment

Automate
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Simulink
The leading environment for modeling, simulating, and
implementing dynamic and embedded systems

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

MATLAB & Simulink in industry

Eurocopter: Helicopters
IAV: CNG/LPG EMS
Eaton: Hybrid Delivery Truck
GM: HVAC
Caterpillar: Construction Machine Delphi: Common Rail Diesel

Dongfeng: BMS
Honeywell: Flight Controls
GM: Hybrid Powertrain

Daimler: Vehicle Controller

Lear: BCM
Vodafone: Telematics

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Targeting Hardware

ANSI-C Code generation for

embedded microprocessors
MATLAB Coder
Simulink Coder
Embedded Coder

HDL Code Generation for FPGAs

and ASICs
HDL Coder
HDL Verifier

PLC Code Generation

Simulink PLC Coder
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Simulink Hardware Support for ProjectBased Learning

Run Simulink models on
low-cost target hardware

With just a click, your model moves from

Simulink 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

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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

NXT Intelligent Brick

3 Actuator Ports

1 USB Port

4 Sensor Ports
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Part 1: Embedded Logic Design, Test and

Implementation
Design complex dynamic
behavior and program
robot
Task for robot:
Maintain: . .
Stop if:

. . <

Approach
Model intelligent behavior in
Simulink
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 using
MATLAB commands
Log sensor data and save to
MATLAB workspace
Approach
Use SET_PARAM command
Use SINK blocks with model in
EXTERNAL 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

MATLAB GUI

Simulink & Stateflow

Change Model
Parameters

Tune Parameters

View Logged Data

Log Sensor Data

Hardware Support Package for

LEGO MINDSTORMS NXT

USB & Bluetooth

Analyze and
Visualize
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/

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 2014 The MathWorks, Inc.

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