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1 © 2012 The MathWorks, Inc. Υπολογιστικά πειράματα με το MATLAB Σύνδεση με Arduino & Raspberry Pi Ζαχαρίας Γκέτσης Μηχανικός Εφαρμογών

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Υπολογιστικά πειράματα με το MATLAB

Σύνδεση με Arduino & Raspberry Pi

Ζαχαρίας Γκέτσης

Μηχανικός Εφαρμογών

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Project-Based Learning

Motivating Project-Based Learning: Sustaining the Doing, Supporting the Learning, Educational Psychologist Volume 26, Issue 3-4, 1991

Project-based learning is a comprehensive approach to classroom

teaching and learning that is designed to engage students in

investigation of authentic problems.

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Physical

Interaction

Simulation

Two Avenues for Project-Based Learning

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Simulation

Algorithm

Device

World

5

technical computing

GUI-based block diagram

environment on top of MATLAB for

modeling, designing and solving

dynamic systems

Applications:Control systems

Electrical systems

Mechanical systems

Hydraulic systems

Signal processing

Video and image processing

Event-based systems

Any dynamic system

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Using MATLAB in Courses

Typical foundation courses:Calculus, linear algebra

Numerical mathematics

Probability and statistics

Optimization

Physics

Typical application courses:Signals, systems, and control

Partial differential equations

Financial engineering

Mechanical engineering

Image processing

For more books, visit www.mathworks.com/books

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1 DOF mass-spring-damper system

Problem: Model a 1 DOF mass-spring-

environment from first principles and

using physical modeling tools.

Model:

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Derive the equations of motions of the system

Use Newton’s second law to derive EOM

Take Laplace Transform to get transfer function

xbkxtFm

x

xbkxtFxm

1

kbsmssF

sX

sXbssXksFsXms

2

2

1

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Model the mass-spring-damper system

Using: First principles (EOM)

Transfer function

Physical models (mass, spring, damper)

Electrical equivalent of the system

(capacitor, resistor, power source)

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Mechatronic Design and Simulation

Library of physical elements

Mechanical, hydraulic, electrical…

Tools for control designMechanical Hydraulic Electrical

Thermal Pneumatic Magnetic

N S

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DC Motor Model

Problem: Model a DC motor in a

environment

Solution: Use physical components to

model the electromechanical system

Model:

V+

V-

Shaft

Housing

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Simulation Benefits

Inexpensive

Accessible

“What-If” Scenarios

Robust

“See” the Algorithms

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Physical Interaction

Algorithm

Device

World

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Project-Based Learning

With just a click,

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)

Also Available in Student Version

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Arduino

Arduino is an open-source microcontroller board, with

an associated development environment.

– Analog and Digital Input-Output directly from MATLAB code

– Motor control and System Design from command line and

– Large set of sensors and actuators

– Ideal for low budget projects

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Same board… different approaches

Write code and

communicate with the

board

Tethered Approach

Develop a model and

program the board

Embedded Approach

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DC Motor Control using Arduino Uno

Host Computer Arduino Uno DC Motor

Serial communication Motor driver

voltage

request

angle

voltage

angle

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Raspberry Pi

What is it? – Credit-card sized, low-cost, single-board computer with audio and video input/output,

designed for teaching

Who created it?

Raspberry Pi Foundation: http://www.raspberrypi.org/

What are the specs?– Broadcom® system-on-a-chip which includes an ARM®11

processor running at 700 MHz with 512 MB RAM

– Peripheral connectivity for stereo audio and digital video

(1080p) and supports USB and Ethernet.

– It measures 85.6mm x 56mm x 21mm, with a little overlap

for the SD card and connectors. It weighs 45g.

Image from: http://www.raspberrypi.org/faqs

“Overall real world performance is something like a 300MHz Pentium 2”

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Hardware Setup

What hardware do I need?– Raspberry Pi Model B

– Power cable (Micro USB-B needed by Raspberry

Pi)

Multiple options; I use USB-A to Micro USB-B cable for

power

– Ethernet cable

– SD Card

MicroSD card that sockets into SD shell will also work

– Open SD Card port (on host computer)

Need port to write firmware on SD Card / Micro SD card

Can use native port or USB-based device

– Open Ethernet port (on host computer)

Option: Can use USB-Ethernet dongle

– Case (nice to have)

– USB Webcam (UVC compatible)

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Raspberry Pi (Model B) Support from Simulink

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Physical Interaction Benefits

Accessible

High Fidelity

Hands-On Learning

Unexpected Scenarios

Engaging

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Physical

Interaction

Simulation

Learning

Project-Based Learning – Learning by Doing

-Both simulation and hardware solutions

-Target affordable hardware platforms

-Industry-standard workflow for engineering education

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