RTEMS is an open source real-time operating system used in embedded devices across a wide range of processor architectures. Lego Mindstorms NXT is a programmable robotics kit from Lego, which may be used as an educational tool to build a model of an~embedded system with computer-controlled electromechanical parts. The goal of the thesis is to allow development of RTEMS-based applications for Lego Mindstorms NXT platform with the aim of employing the results of the thesis as a runtime platform used in the Embedded and Real-Time Systems Course. The thesis thus identifies a suitable way of porting RTEMS to Lego NXT, provides the corresponding runtime environment and discusses basic means for deployment and debugging of RTEMS application on Lego Mindstorms NXT. Powered by TCPDF (www.tcpdf.org)

There are kinds of English teaching materials for preschool children in the market, including English alphabets teaching materials, word cards and picture cards. It makes no exceptions that the key learning method of these materials needs either parents or teachers¡¦ accompanies in order to teach Children to recognize alphabets and to pronounce tones, helping Children to learn alphabets. The research aims to assist Children to study English alphabets more effectively. The research methods consist of the following: to study through related documents in order to comprehend specialists¡¦ advises about children studies; to observe how the specialists using teaching methods to tutor children study alphabets; to realize users¡¦ requirements through interviews. Combining the three methods above, the researcher decides to use LEGO MINDSTORMS NXT robots and accessories as teaching tools which are low cost, similar to LEGO cubes in appearance, and with easy replace accessories. Associate with PC to transmit information, the researcher designs an assisting studying system that can help children to recognize and study alphabets and tones without parents or teacher¡¦s accompanying. The research intends to provide the follow-through children assisted study system developers as a reference through this research and develop methods, in order to speed the time of development.

This report presents a thesis done at the programme Master of Science in Engineering and Education at KTH and SU. This project aims to create a laboratory work trying to inspire students for the technical subjects (mathematics, physics, technology and computer science) and is conducted at the department IfU at RWTH University in Aachen, Germany. It is a part of the project RoboScope, developed in Germany to inspire young people to study more engineering. This laboratory work uses Lego Mindstorms and the students should work with robotics. The laboratory work is based on a theme; the students will build a robot that can complete a specific task, a rescue task in a nuclear power plant. The new parts in the laboratory work “Rescue Work” involve more interactivity, higher degree of freedom, older students and the programming is made in Java. The laboratory work uses the model of Brall. Evaluation of the laboratory work has been done together with colleagues at IfU and a group of school students. / Denna rapport redovisar ett examensarbete gjort på programmet Civilingenjör och Lärare på KTH och SU. Examensarbetets syfte är att skapa en laboration för att försöka inspirera studenter till de tekniska ämnena (matematik, fysik, teknik och datavetenskap) och är genomfört vid institutionen IfU på universitetet RWTH i Aachen, Tyskland. Den är en del av ett projekt RoboScope, drivet i Tyskland för att inspirera fler elever till att studera till ingenjörer. Denna laboration använder sig av Lego Mindstorms och studenterna arbetar med robotik. Laborationen utgår från ett tema och studenterna ska bygga en robot som kan genomföra den specifika uppgiften de blir tilldelade. Uppgiften är en räddningsaktion i ett kärnkraftverk. De nya delarna i denna laboration involverar mer interaktivitet, högre frihetsgrader, äldre elever och programmeringen genomförs i Java. Laboration använder sig av modellen av Brall. En utvärdering är gjord tillsammans med kollegor på IfU och en grupp av studenter.

Submitted by Luciana Ferreira (lucgeral@gmail.com) on 2014-12-22T12:20:23Z No. of bitstreams: 1 Dissertação - Gilmar José do Nascimento - 2014.pdf: 3342644 bytes, checksum: 6d59b125cab769363607e1d9dfce31f4 (MD5) / Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2015-01-26T13:24:20Z (GMT) No. of bitstreams: 1 Dissertação - Gilmar José do Nascimento - 2014.pdf: 3342644 bytes, checksum: 6d59b125cab769363607e1d9dfce31f4 (MD5) / Made available in DSpace on 2015-01-26T13:24:20Z (GMT). No. of bitstreams: 1 Dissertação - Gilmar José do Nascimento - 2014.pdf: 3342644 bytes, checksum: 6d59b125cab769363607e1d9dfce31f4 (MD5) Previous issue date: 2014-02-03 / Conselho Nacional de Pesquisa e Desenvolvimento Científico e Tecnológico - CNPq / This work aims to enable the understanding of physics conceptions utilizing basic foundations of mathematics. In this regard, the aim is to highlight both those the phenomena that occur in nature as the phenomena which occur in laboratory manipulations. A extensive research is made about mathematical concepts that will subsequently be applied to several types of problems, being possible understand fundamental aspects involving physical quantities. With the goal to experience the in practice applications, robotic prototypes using LEGO MINDSTORMS kits, simulating real situations of nature and confronting of the computations with classical theoretical results are built. / Este trabalho tem como objetivo principal possibilitar a compreensão de conceitos físicos utilizando fundamentos básicos de matemática. Neste sentido, pretende-se evidenciar tanto os fenômenos que ocorrem na natureza quanto os fenômenos que ocorrem em manipulações de laboratórios. No presente estudo, é possível perceber que a matemática é de fundamental importância no estudo dos fenômenos físicos. Um vasto estudo é feito acerca de conceitos matemáticos que, em seguida, serão aplicados à vários tipos de problemas, sendo possível compreender aspectos fundamentais envolvendo grandezas físicas. Com o objetivo de vivenciar as aplicações na prática, são construídos protótipos robóticos utilizando os kits LEGO MINDSTORMS, simulando situações reais da natureza e confrontando os cálculos com resultados teóricos clássicos.

Submitted by Luciana Ferreira (lucgeral@gmail.com) on 2015-01-27T14:34:02Z No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Dissertação - Carlos Gomides da Costa - 2014.pdf: 5662268 bytes, checksum: 9c271f8544a1ec02f89c341d68f33801 (MD5) / Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2015-01-28T12:36:28Z (GMT) No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Dissertação - Carlos Gomides da Costa - 2014.pdf: 5662268 bytes, checksum: 9c271f8544a1ec02f89c341d68f33801 (MD5) / Made available in DSpace on 2015-01-28T12:36:28Z (GMT). No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Dissertação - Carlos Gomides da Costa - 2014.pdf: 5662268 bytes, checksum: 9c271f8544a1ec02f89c341d68f33801 (MD5) Previous issue date: 2014-08-08 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / This work have as the main objective present one a different way to teach the subject matrix multiplication, a way in a ludic form, applied, that can transform the teaching more pleasureable and motivate for the high scholl students, because for many this issue has no practical applications, which for many reasons is the lack of interest in learning such content. The tool used to attract as students so as teachers was the utilization of Kit LEGO® Mindstorms NXT 2.0 for the construction of the robotic arm, or robotic manipulator, that which for this propose, has three rotational joints. The LEGO kit was choosen due its easy interaction with children and adolescents, and to encourage the construction of knowledge stimulating the solution of problems that may arise during the process of building robotic arm.The application of content takes place in obtaining the four parameters Denavit-Hartenberg and those obtained after the placement of reference systems, where three of these parameters are constants obtained by measurement at robotic arm and the fourth parameter is variable dependent on the intended movement or the final position which is to be determined. / O presente trabalho tem como principal objetivo apresentar mais uma opção de ensinar o assunto multiplicação de matrizes, de uma forma mais lúdica, aplicada, que pode tornar o ensino mais prazeroso e atrativo para alunos do ensino médio, pois para muitos esse assunto não tem aplicações práticas, o que para outros é motivo da falta de interesse em aprender tal conteúdo. A ferramenta apresentada com o intuito de atrair tanto alunos quanto professores, foi o Kit LEGO® Mindstorms NXT 2.0, que possibilitou a construção do braço robótico ou manipulador robótico, que nesse trabalho foi apresentado com três juntas do tipo rotacionais. A escolha desse Kit LEGO® é justificada pela sua facilidade de interação com crianças e adolescentes, além de estimular a construção do aprendizado pois, estimula a solução de problemas que possam aparecer durante o processo de construção do braço robótico. A aplicação do conteúdo se dá na obtenção dos quatro parâmetros de Denavit-Hartenberg que são obtidos após a colocação dos sistemas de referência, onde três desses parâmetros são definidos a partir de medições feitas no braço robótico e o quarto parâmetro é variável dependente do movimento pretendido ou a posição final que se queira determinar.

The topic of the thesis is to build physically similar systems to simulate behaviors of real-life heavy-duty vehicles using LEGO Mindstorms as hardware platform and Buckingham π theorem as theoretical basis for the parameter scaling. The thesis work includes software and hardware system design and theoretical research in order to prove a newly proposed concept: Using LEGO to build a scaled model of real-life vehicles with specific similar physical properties. To implement the work described above, scaled models were built with LEGO and a software and hardware system was developed for controlling the scaled model. Tests were performed both on real-life vehicles and scaled models. A generalized mathematical model for the vehicle was derived in order to interpret the behaviors of the vehicle in a scientific way. Then, test results of both real-life vehicles and the corresponding scaled model were compared with the mathematical model in order to investigate if they have similar behaviors. Finally it was concluded that the scaled model built with LEGO Mindstorms combined with Buckingham π theorem could calculate the speed and turning radius of the physically similar real-life vehicle with an average accuracy of 94.68% within low speed, conservatively speaking. For further investigation and research, similar research could be performed with higher speeds to generalize the conclusions and results. / Uppsatsen ämnar till att bygga ett fysiskt likvärdigt system, som simulerar beteendet av verkliga tunga fordon, med LEGO Mindstorms som hårdvaruplattform och med Buckingham П teoremet som teoretisk grund from skalning av parametrar. Arbetet inkluderar mjukvaru- och hårdvarusystemdesign samt teoretisk forskning för att kunna bevisa ett nyligen föreslaget koncept: Att använda LEGO för att bygga en skalad modell av verkliga fordon med specifika likartade fysiska egenskaper. För att implementera det ovan föreslagna arbetet, byggdes skalade modeller i LEGO samt ett kombinerat hård- och mjukvarusystem för att styra den skalade modellen. Tester utfördes på både riktiga lastbilar samt de skalade modellerna. För att kunna identifiera parametrar samt simulera och tyda fordonens beteende så adapterades en generell matematisk modell. Testresultaten för på verkliga samt motsvarande skalade modeller jämfördes med den matematiska modellen för att påvisa om beteendet är likartat. Till sist drogs slutsatsen att den skalade modellen bygg med LEGO Mindstorms och parameterskalad med hjälp av Buckingham П teoremet kunde beräkna skalningsfaktorn av hastighet samt svängradie för det fysiskt likartade fordonet med en tillförlitlighet på 94.68%, konservativt räknat. Detta gäller för låga hastigheter och som fortsatt forskning skulle en liknande studie med starkare och snabbare motorer genomföras för att generalisera slutsatserna och resultaten.

Orientador: José Marcos Lopes / Banca: Edison Righetto / Banca: Regina Litz Lamblém / Resumo: Este trabalho apresenta o resultado qualitativo de quatro atividades aplicadas no 6º ao 9º Ano do Ensino Fundamental e teve como objetivo principal elaborar, implementar e analisar uma sequência didática envolvendo robótica educacional e matemática (com enfoque aos números racionais). Essas atividades foram aplicadas em dezembro de 2014 na escola SESI de Andradina no estado de São Paulo. A escolha para o mês de dezembro foi intencional justamente para que os alunos utilizassem seus conhecimentos e habilidades adquiridos no decorrer desse ano letivo. A importância de se realizar tal temática, em conjunto, vem da necessidade crescente da utilização da tecnologia, que permeia o meio social no qual o aluno está inserido, a favor da educação e pelo fato das frações ainda serem um paradigma de difícil assimilação por parte dos alunos, de acordo com Silva (2006) e Demartini (2009). Com base na metodologia LEGO®, sintetizada em quatro verbos na ordem: contextualizar, construir, analisar e continuar, utilizamos três montagens de robôs dos fascículos da LEGO® Zoom para servir de suporte às resoluções das situações-problema desenvolvidas especificamente para a idealização deste estudo. O resultado desta pesquisa mostrou que além da diversão proporcionada, foi instigada a curiosidade dos alunos ao perpassarem por todas as quatro ações mencionadas anteriormente, pois consonante às situações-problema contextualizadas, os alunos, em grupo, assimilaram facilmente o objetivo de cada atividade / Abstract: This paper presents the qualitative result of four activities applied in the 6th to 9th grades of Elementary School and intend to design, implement and analyze a didactic sequence involving educational robotics and mathematics (with a focus on rational numbers). These activities were implemented in December 2014 in SESI school in Andradina, São Paulo state. The choice for the month of December was intended precisely so that students would use their knowledge and skills acquired during that school year. The importance of conducting this theme, together, comes the growing need of using technology that pervades the social environment in which the student is in; for education, and because the fractions are still a difficult paradigm to be assimilated by students, according to Silva (2006) and Demartini (2009). Based on LEGO® methodology, summarized in four words in order: Connect, Construct, Contemplate, and Continue, we used three assembly robots LEGO® Zoom to provide support to the resolutions of problem situations developed specifically for the idealization of this study. The research result showed that beyond that provided fun, it was instigated the curiosity of students to go through all four aforementioned actions, as consonant to problem situations contextualized, students, in group, easily assimilated the purpose of each activity / Mestre

Made available in DSpace on 2015-09-17T15:24:26Z (GMT). No. of bitstreams: 0 Previous issue date: 2014-06-02. Added 1 bitstream(s) on 2015-09-17T15:47:50Z : No. of bitstreams: 1 000844410.pdf: 6315552 bytes, checksum: a59229cfd0305414a37830023c72d203 (MD5) / Este trabalho apresenta o resultado qualitativo de quatro atividades aplicadas no 6º ao 9º Ano do Ensino Fundamental e teve como objetivo principal elaborar, implementar e analisar uma sequência didática envolvendo robótica educacional e matemática (com enfoque aos números racionais). Essas atividades foram aplicadas em dezembro de 2014 na escola SESI de Andradina no estado de São Paulo. A escolha para o mês de dezembro foi intencional justamente para que os alunos utilizassem seus conhecimentos e habilidades adquiridos no decorrer desse ano letivo. A importância de se realizar tal temática, em conjunto, vem da necessidade crescente da utilização da tecnologia, que permeia o meio social no qual o aluno está inserido, a favor da educação e pelo fato das frações ainda serem um paradigma de difícil assimilação por parte dos alunos, de acordo com Silva (2006) e Demartini (2009). Com base na metodologia LEGO®, sintetizada em quatro verbos na ordem: contextualizar, construir, analisar e continuar, utilizamos três montagens de robôs dos fascículos da LEGO® Zoom para servir de suporte às resoluções das situações-problema desenvolvidas especificamente para a idealização deste estudo. O resultado desta pesquisa mostrou que além da diversão proporcionada, foi instigada a curiosidade dos alunos ao perpassarem por todas as quatro ações mencionadas anteriormente, pois consonante às situações-problema contextualizadas, os alunos, em grupo, assimilaram facilmente o objetivo de cada atividade / This paper presents the qualitative result of four activities applied in the 6th to 9th grades of Elementary School and intend to design, implement and analyze a didactic sequence involving educational robotics and mathematics (with a focus on rational numbers). These activities were implemented in December 2014 in SESI school in Andradina, São Paulo state. The choice for the month of December was intended precisely so that students would use their knowledge and skills acquired during that school year. The importance of conducting this theme, together, comes the growing need of using technology that pervades the social environment in which the student is in; for education, and because the fractions are still a difficult paradigm to be assimilated by students, according to Silva (2006) and Demartini (2009). Based on LEGO® methodology, summarized in four words in order: Connect, Construct, Contemplate, and Continue, we used three assembly robots LEGO® Zoom to provide support to the resolutions of problem situations developed specifically for the idealization of this study. The research result showed that beyond that provided fun, it was instigated the curiosity of students to go through all four aforementioned actions, as consonant to problem situations contextualized, students, in group, easily assimilated the purpose of each activity

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.

This bachelor was written in regards to the recent implementation of the mandatory teaching of programming in Swedish schools. This extensive addition to our curriculum requires the further education of teachers and the needs to invest in specialised educational materials. In this bachelor, we have collected research through contacting various prominent educational institutions around Skåne which have implemented programming in their curriculum using various types of robots. We wanted to establish what resources these institutions provide their educators when they teach programming. We also wanted to better understand the ways in which these institutions work with hardware and their thoughts on how hardware may affect students computational thinking, learning and self-motivation. To answer these questions, we interviewed several educators who specialise in programming and its use in schools. Even though, the different institutions had little or nothing to do with each other they basically shared the same basic ideas regarding the concept. This study concluded that according to teachers, computational and logical thinking increases when students work with LEGO-robots. When working with these robots, students were able to exercise their problem-solving abilities by using robots that they have constructed and programmed themselves. The system is easily implemented in schools since most students have prior knowledge of the LEGO construction mechanism. However, prior to being used for educational purposes, LEGO has most likely been associated with playtime and might therefore make it challenging for some students to work with it in a school environment. Another disadvantage with LEGO-robots is that the system uses block programming languages. This means that students understanding of text programming will not be exercised while working with these types of robots, limiting the depth of learning. In conclusion, to promote students’ comprehension of programming when working in an educational setting, the use of robots is greatly beneficial and almost essential. Even if only block programming is used, it is important to engage students and keep them excited during learning. According to teachers, enthusiasm regarding the subject will be a determining factor in their willingness to learn.