MATLAB and Simulink for Embedded
Systems and Robotics
Sean de Wolski
Application Engineer
© 2014 The MathWorks, Inc.1
Agenda for today
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MATLAB & SIMULINK
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Theory to Practice
– Trying out concepts from Controls, Signal Processing,
Communications, Mapping, etc.
– Testing on low-cost hardware
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Demo: Exploring Rover
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Why an Embedded System?
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MathWorks products
MATLAB + Toolboxes
– Data Analysis and Visualization
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Statistical analysis
Mathematical Modeling
Signal Processing
Etc.
Simulink + Blocksets
– System modeling, simulation, testing
and implementation
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Communication system design
Physical system design – hydraulic,
mechanical, electrical, etc.
Controller designing, tuning and
implementation
Etc.
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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
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Block-diagram environment
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Model, simulate and analyze
multi-domain systems
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Accurately design, implement, and test:
– Control systems
– Signal processing systems
– Communications systems
– And other dynamic systems
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Platform for Model-Based Design
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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
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HDL Code Generation for FPGAs
and ASICs
– HDL Coder
– HDL Verifier
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PLC Code Generation
– Simulink PLC Coder
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Simulink Hardware Support for ProjectBased Learning
Run Simulink models on
low-cost target hardware
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With just a click, your model moves from
Simulink onto hardware
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Supported target hardware
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–
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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: 𝑺𝒑𝒆𝒆𝒅 ∝ 𝑶𝒃𝒔𝒕. 𝑫𝒊𝒔𝒕.
 Stop if:
𝑶𝒃𝒔𝒕. 𝑫𝒊𝒔𝒕. < 𝟐𝟎 𝒄𝒎
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
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MATLAB commands to remember
>> targetinstaller
>> simulink
>> doc
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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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