This paper describes a procedure to find the transfer function for the Lego Mindstorms Ev3. Lego Mindstorms Ev3 can serve as the platform for a system modeling and a controller design course. It is economical and accessible. It is also very compatible with Matlab and Simulink. This platform can be used for concepts of modeling, feedback, and controller design. The main approach in this work focuses on the closed loop instead of open loop. Although this approach turns the problem into a more complicated puzzle, it reveals more details. In this work, different techniques have been used, such as time domain, root locus, and least square estimation. Different tools have also been utilized such as Matlab SISO tool, the Matlab System Identification tool, and Simulink. These methods and implementations assisted to acquire different types of transfer functions for the system. By simulating the transfer functions and comparing them with experimental studies, the matching scores were calculated to decide on the best transfer function. Finding the finest transfer function for this gadget enables us to prepare diverse practical undergraduate and graduate curricula.

Submitted by Renata Lopes (renatasil82@gmail.com) on 2016-10-31T12:48:00Z No. of bitstreams: 1 alexandrepeixotodocarmo.pdf: 500325 bytes, checksum: 6cf9edbc4c5f88b6812d23067e9d9a9c (MD5) / Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2016-12-15T12:59:37Z (GMT) No. of bitstreams: 1 alexandrepeixotodocarmo.pdf: 500325 bytes, checksum: 6cf9edbc4c5f88b6812d23067e9d9a9c (MD5) / Made available in DSpace on 2016-12-15T12:59:37Z (GMT). No. of bitstreams: 1 alexandrepeixotodocarmo.pdf: 500325 bytes, checksum: 6cf9edbc4c5f88b6812d23067e9d9a9c (MD5) Previous issue date: 2007-11-30 / CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Neste trabalho realizaremos a caracterização óptica de matrizes vítreas, dopadas com íons terras-raras e nanopartículas de ouro, com diversas composições, mas mantendo como elemento principal o telúrio. Essas matrizes são conhecidas na literatura como vidros teluretos. Trataremos de dois conjuntos de amostras, no primeiro temos vidros teluretos com composições binária, ternária e quaternária dopadas com íons de itérbio (Yb3+); no segundo temos um vidro telureto com composição ternária dopado e co-dopado com íons de európio (Eu3+) e nanopartículas de ouro com variações no tempo de tratamento térmico. Um breve resumo histórico sobre todos os elementos terras-raras, e suas características comuns é apresentado, juntamente com informações mais aprofundadas sobre os elementos de interesse nesse trabalho, itérbio e európio. Também são discutidas algumas propriedades gerais dos vidros, e os efeitos da incidência da radiação eletromagnética sobre as nanopartículas de ouro. Discutem-se também as aplicações dos vidros teluretos e sua importância. As amostras foram caracterizadas com medidas de absorbância, luminescência e tempo de vida com o objetivo de investigarmos as variações que ocorrem para as diversas composições das matrizes no conjunto dopado com Yb3+. Obtém-se tempos de vida radiativos utilizando de forma simplificada a teoria de Judd-Ofelt e através de medidas experimentais. As mesmas medidas também são feitas com o conjunto dopado e co-dopado com Eu3+ e nanopartículas de ouro para obtermos as contribuições das nanopartículas e tempo de tratamentos térmico para as propriedades ópticas das amostras. A teoria de Judd – Ofelt é utilizada para calcular os tempos radiativos da transição do európio, obtidos a partir de espectros de luminescência. Esse método foi proposto inicialmente por Capobianco e outros [1]. A razão de utilizarmos o espectro de luminescência no lugar do habitual espectro de absorbância, é que poucas bandas de absorção são observadas com intensidade suficiente para a utilização da teoria. Verificamos a influência das nanopartículas nas propriedades ópticas do Európio. / In this work we will accomplish the optical characterization of host vitreous, doped with rare-earth ions and nanoparticles of gold, with several compositions, but maintaining as main element the tellurium. Those stencil they are known in the literature as tellurite glasses. We will treat of two groups of samples, in the first we have glasses teluretos with compositions binary, ternary and quaternary doped with ytterbium ions (Yb3+); in the second we have a tellurite glass with ternary composition doped and co-doped with europium ions (Eu3+) and nanopartículas of gold with variations in the time of thermal treatment. A brief summary on all the rare-earth elements, and its common characteristics are presented, and a more detailed presentation focused on Ytterbium and Europium. Also some general properties of glasses, and the effect of the incidence of the electromagnetic radiation on nanoparticles of gold are presented. The applications of tellurite glasses and its importance are also argued. The samples have been characterized by optical techniques such as absorbance, luminescence and lifetime with the objective to investigate the variations that occur for the diverse compositions of the matrices, doped with Yb3+. Radiative times were achieved by means of the simplified form the Judd-Ofelt theory and through experimental measurements. Similar characterization were also made with the doped and co-doped set with Eu3+ and nanoparticles of gold to get the contributions of nanoparticles and thermal time of treatments for the optical properties of the samples. The Judd - Ofelt theory was used to calculate the radiative times of the Eu3+ transitions, obtained from luminescence spectra. This method was initially proposed by Capobianco et al [1]. The reason to use luminescence lineshapes instead of the habitual absorbance spectrum, is that few absorption bands are observed, with sufficient intensity. We verified the influence of nanoparticles in the optical properties of the Europium ions.

Recently, the school of electrical engineering and computer science (EECS) at the Royal institute of technology (KTH) proposed to introduce a new learning module for the course Engineering Methods - II1300. The module is to introduce both C programming and LEGO robot EV3 programming, to help the students to complete a course project. A literature study was first conducted to investigate how a learning module should be designed and what information was needed. Data from a survey routinely performed by the department and another in this work were collected. The data showed a wide variety in background knowledge among the students who attended the course. Many students believed that they did not receive enough learning material to complete the C assignments nor sufficient instructions for programming the LEGO robot. Based on the data analyses and guided with the Constructive Alignment method and the Scaffolding theory, a specification was created, and the desired learning module was developed. The module provides necessary instructions, good code examples and relevant resources that may be needed. It arranges a balanced amount of learning activities. It is expected to guide the learningprocess and improve the learning efficiency, and to facilitate the teaching process and reduce the workload. The learning module highlights a structured and modular way to teach fundamentals of C programming using the Scaffolding teaching method in conjunction with Constructive Alignment. The module can be reused with small modifications for similar courses by substituting the contents. Moreover, the strategy and the methods, which the project adopted to develop the module, are rather general and in principle are applicable to most online course development. / Nyligen föreslog Skolan för elektroteknik och datavetenskap (EECS) på KungligaTekniska Högskolan (KTH) att införa en ny inlärningsmodul för kursen Engineering Methods - II1300. Modulen ska introducera både C-programmeringoch LEGO-robot EV3-programmering, för att hjälpa eleverna att slutföra ett kursprojekt. En litteraturstudie genomfördes först för att undersöka hur en inlärningsmodul ska utformas och vilken information som behövs. Data från en undersökningsom rutinmässigt utförts av institutionen och en annan i detta arbete samlades in. Uppgifterna visade en stor variation i bakgrundskunskaper blandde studenter som deltog i kursen. Många studenter trodde att de inte fick tillräckligt med läromedel för att slutföra C-uppgifterna eller tillräckliga instruktionerför att programmera LEGO-roboten. Baserat på dataanalyserna och styrs med Constructive Alignment metoden och Scaffoldning teorin skapades en specifikation och den önskade inlärningsmodulen utvecklades. Modulen innehåller nödvändiga instruktioner, bra kodexempel och relevanta resurser som kan behövas. Det ordnar en balanserad mängd lärande aktiviteter. Det förväntas vägleda inlärningsprocessen och förbättra inlärningseffektiviteten och underlätta undervisningsprocessen och minska arbetsbelastningen. Lärningsmodulen belyser ett strukturerat och modulärt sätt att undervisa i grunderna i C-programmering med hjälp av undervisningsmetoden Scaffolding i samband med Constructive Alignment. Modulen kan återanvändas med små ändringar för liknande kurser genom att ersätta innehållet. Dessutom är strategin och metoderna, som projektet antog för att utveckla modulen, ganska allmän och är i princip tillämpliga för de flesta online kursutveckling.

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In this thesis, I present my work on the modeling and control of a motor system using the Lego EV3 robot. The overall goal is to apply introductory systems and controls engineering techniques for estimation and design to a real-world system. First I detail the setup of materials used in this research: the hardware used was the Lego EV3 robot; the software used was the Student 2014 version of Simulink; a wireless network was used to communicate between them using a Netgear WNA1100 wifi dongle. Next I explain the approaches used to model the robot’s motor system: from a description of the basic system components, to data collection through experimentation with a proportionally controlled feedback loop, to parameter estimation (through time-domain specification relationships, Matlab’s curve-fitting toolbox, and a formal least-squares parameter estimation), to the discovery of the effects of frictional disturbance and saturation, and finally to the selection and verification of the final model through comparisons of simulated step responses of the estimated models to the actual time response of the motor system. Next I explore three different types of controllers for use within the motor system: a proportional controller, a lead compensator, and a PID controller. I catalogue the design and performance results – both in simulation and on the real system – of each controller. One controller is then selected to be used within two Controls Systems Engineering final course projects, both involving the robot traveling along a predetermined route. The controller’s performance is analyzed to determine whether it improves upon the accumulation of error in the robot’s position when the projects are executed without control.

Natural language (NL) is a common medium humans use to express ideas and communicate with others, while programming languages (PL) are the ``language'' humans use to communicate with machines. As NL and PL were designed for different purposes, a considerable difference exists in the structure and capabilities. Programming using PL can take novices months to learn. Meanwhile, users are already familiar with NL. Therefore, natural language programming (NLPr) holds excellent potential by giving non-experts the ability to ``program'' with the language they already know and a Low-Code/No-Code development experience. However, many challenges with developing NLPr systems are yet to be addressed, namely how to disambiguate NL semantics, validate inputs and provide helpful feedback, and generate the executable programs based on semantic meanings effectively. This dissertation addresses these issues by proposing a Controlled Object-Oriented Language (COOL) model to disambiguate and analyze the English inputs' semantic meanings and implement a LEGO robot NLPr platform. Two main approaches that connect the current research in general-purpose NLP to NLPr are taken: (1) A domain-specific lexicon and function library serve as the syntax and semantic space. Even though NL can be complex and expressive, functions for the specific robot domain can be fulfilled with libraries built of a finite set of objects and functions. (2) An error-reporting and feedback mechanism detects erroneous sentences, explains possible reasons, and provides debugging and rewriting suggestions. The error-reporting and feedback systems are developed with a hybrid approach that combines rule-based methods such as FSM and dependency-based structural analysis with the data-based multi-label classification (MLC) method. Experiment results and user studies show that, with the proposed model and approaches reducing the ambiguity within the target domain, the NLPr system can process a relatively expressive controlled NL for robot motion control and generate executable codes based on the English input. When the system is confronted with erroneous sentences, it produces error messages, suggestions, and example sentences for users. NL's structural and semantic information can be transformed into the intermediate representations used for program synthesis with the language model and system proposed to resolve the situation where the considerable amount of data needed for a data-based model is unavailable. / Doctor of Philosophy / Natural language (NL) is one of the most common mediums humans use daily to express and explain ideas and communicate with each other. In contrast, programming languages (PL) are the ``language'' humans use to communicate with machines. Because of the difference in the purpose, media, and audience, there is a considerable difference in their structure and capabilities. NL is more expressive and natural and sometimes can be rather complex, while PL is primarily short, straightforward, and not as expressive as NL. The need for programming has increased in recent years. However, the learning curve of programming languages can easily be months or more for novice users to learn. At the same time, all potential users are familiar with at least one NL. As such, natural language programming (NLPr), a technology that enables people to program with NL, holds excellent potential since it gives non-experts the ability to ``program'' with the language they already know and a Low-Code or even No-Code development experience. However, despite recent research into NLPr, many challenges with developing NLPr systems are yet to be addressed, namely how to disambiguate natural language semantics, how to validate inputs and provide helpful feedback with a limited amount of data, and how to effectively generate the executable programs based on the semantic meanings. This dissertation addresses these issues by proposing a Controlled Object-Oriented Language (COOL) model to disambiguate and analyze the English inputs' semantic meanings and implement a LEGO robot NLPr platform. Two main approaches that connect the current research in general-purpose NLP techniques to NLPr are taken: (1) The first is developing a domain-specific lexicon and function library with the designed COOL model to serve as the syntax and semantic space. Even though natural language can be extremely complex and expressive, the functions for the specific robot domain can be fulfilled with libraries built of a finite set of objects and functions. (2) An error-reporting and feedback mechanism detects erroneous sentences, explains possible reasons, and provides debugging and rewriting suggestions. The error-reporting and feedback systems are developed with a hybrid approach that combines rule-based methods such as FSM and dependency-based structural analysis with the data-based multi-label classification (MLC) method. Experiment results and user studies show that, with the proposed language model and approaches reducing the ambiguity within the target domain, the designed NLPr system can process a relatively expressive controlled natural language designed for robot motion control and generate executable codes based on the semantic information extracted. When the NLPr system is confronted with erroneous sentences, it produces detailed error messages and provides suggestions and sample sentences for possible fixes to users. NL's structural and semantic information can be transformed into the intermediate representations used for program synthesis with the simple language model and system proposed to resolve the situation where the considerable amount of data needed for a data-based model is unavailable.