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.

Simulink Block Library for LEGO NXT Abstract Dominik Škoda July 30, 2014 The goal of this work is to create a support for the LEGO NXT platform in Simulink development environment. Such support of the target platform already exists, but it suffers from several disadvantages. At first it is provided exclusively for Windows operating systems, and the implementation is closed, therefor neither extensible nor customizable. The main premise of this project is the support of Linux operating systems. The project is also opened to ensure the extensibility and customizability. The model-driven development of systems for the LEGO NXT platform using this project comprises the model testing in a simulation and code generation in Simulink environment by using its standard tools, and deployment of completed programs to target devices. The systems generated with the help of this project are categorized as real-time systems.

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)

Learn how to use Lego sets to promote math content and practices.

No description available.

<p><em>This bachelor thesis is dedicated to assemble the hardware system of a UAV (Unmanned Aerial Vehicle) in order to prepare the platform for an autonomous flight in the air for a given path through the pre-programmed check points. A UAV is an aircraft that contains sensors, GPS, radio system, servomechanisms and computers, which provide the capability of an autonomous flight without a human pilot in the cockpit. A stable flight requires sensing the roll, pitch, and yaw angles of aircraft. Roll and pitch angles were ensured by a sensor system of FMA Direct Company called co-pilot flight stabilization system (CPD4), which allows controlling ailerons and elevator manually.</em></p><p><em>An autopilot is required for steering the aircraft autonomously according the GPS data and the establish waypoints that the airplane have to pass by. The GPS gives heading information to the autopilot, and this uses the information of the next waypoint to decide which direction to go. Hereby an autonomous flight is provided. In this project a lego mindstorm NXT was used as an autopilot that is product of LEGO Company [1]. The output of the autopilot is used to control the airplane servos to fly in the desired direction. A software and hardware interface was designed to allow the autopilot to receive the data from the co-pilot sensor and to transmit data to the co-pilot processor, which will finally steer the actuator servos. Experiments were performed with different parts of the system and the results reported.</em></p>

This bachelor thesis is dedicated to assemble the hardware system of a UAV (Unmanned Aerial Vehicle) in order to prepare the platform for an autonomous flight in the air for a given path through the pre-programmed check points. A UAV is an aircraft that contains sensors, GPS, radio system, servomechanisms and computers, which provide the capability of an autonomous flight without a human pilot in the cockpit. A stable flight requires sensing the roll, pitch, and yaw angles of aircraft. Roll and pitch angles were ensured by a sensor system of FMA Direct Company called co-pilot flight stabilization system (CPD4), which allows controlling ailerons and elevator manually. An autopilot is required for steering the aircraft autonomously according the GPS data and the establish waypoints that the airplane have to pass by. The GPS gives heading information to the autopilot, and this uses the information of the next waypoint to decide which direction to go. Hereby an autonomous flight is provided. In this project a lego mindstorm NXT was used as an autopilot that is product of LEGO Company [1]. The output of the autopilot is used to control the airplane servos to fly in the desired direction. A software and hardware interface was designed to allow the autopilot to receive the data from the co-pilot sensor and to transmit data to the co-pilot processor, which will finally steer the actuator servos. Experiments were performed with different parts of the system and the results reported.

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.

Η πτυχιακή εργασία αποτελείται από τρία μέρη: Στο πρώτο μέρος γίνεται επισκόπηση της βιβλιογραφίας που οδήγησε στο ερευνητικό ερώτημα, ανάδειξη των θεμάτων που προκύπτουν, και παρουσίαση αποτελεσμάτων ερευνητικών εργασιών που επιχειρηματολογούν υπέρ της εισαγωγής της εκπαιδευτικής ρομποτικής στο σχολείο, και προτείνουν μεθοδολογίες εφαρμογής της. Εδώ θα γίνει επίσης αναφορά στο ρόλο και τη χρησιμότητα των Lego σε αυτή την κατεύθυνση. Στο δεύτερο μέρος παρουσιάζεται αναλυτικά το εκπαιδευτικό σενάριο που υλοποιήθηκε κατά τη διάρκεια της έρευνας, ως μια εκπαιδευτική πρόταση για την ενίσχυση της ενεργητικής εμπλοκής και της αύξησης του ενδιαφέροντος και των επιδόσεων των παιδιών στις stem. Στο τρίτο μέρος γίνεται παρουσίαση μικρής έρευνας σε παιδιά δημοτικού, που ακολούθησαν πρόγραμμα δραστηριοτήτων επίλυσης προβλήματος με χρήση ρομποτικού συστήματος και περιβάλλοντος οπτικού προγραμματισμού. / The present essay consists of three parts. The first part involves an extended analysis of research made on the field of educational robotics, finally presenting results arguing for its introduction in formal education, as well as certain methodologies of its application at schools. A reference to the role and usefulness of Lego Robots is also made here. The second part involves a presentation of an educational scenario implemented during elaboration of this essay, as an educational proposal to stimulate childrens' interest and performance in stem. Finally, a presentation of a small research is made in the third part, converning results of personal observations made during a problem solving situation undertaken by primary school children, mainly with the use of a robotic system and a visual programming language, as part of an application of the aforementioned scenario.

Στόχος αυτής της διπλωματικής εργασίας είναι η κατασκευή και ο έλεγχος μιας ομάδας αυτόνομων και συνεργαζόμενων κινούμενων ρομπότ τα οποία θα είναι σε θέση να δημιουργήσουν ένα σύστημα επικοινωνίας με μεταβλητή εμβέλεια, κάνοντας χρήση των ίδιων των ρομπότ ως αναμεταδότες πληροφορίας. Τα δύο ρομπότ εκκινούν ως ένα και στη συνέχεια αποδεσμεύονται και ακολουθούν μια τροχιά σε σχηματισμό Leader-follower. Για την επίτευξη του στόχου αυτού κατασκευάστηκαν 2 όμοια μη ολονομικά οχήματα (ref μανεσης) με δύο κινητήριους και έναν παθητικό περιστρεφόμενο τροχούς (εικόνα) και υλοποιήθηκε αλγόριθμος μη γραμμικού ελέγχου των κινούμενων οχημάτων. Για την ασύρματη επικοινωνία μεταξύ των κόμβων του ηλεκτρονικού υπολογιστή και των 2 ρομπότ κατασκευάστηκε ένα ολοκληρωμένο κύκλωμα μετάδοσης της πληροφορίας και προγραμματίστηκε για χρήση με το πρωτόκολλο ZigBee Pro. Στο κεφάλαιο 1 παρατίθεται ένα εισαγωγικό κείμενο πάνω στις τεχνολογίες που χρησιμοποιήθηκαν για την παρούσα διπλωματική εργασία μαζί με μια περιορισμένη βιβλιογραφική ανασκόπηση. Στο κεφάλαιο 2 δίνεται η περιγραφή της πλατφόρμας Lego Mindstorms NXT που χρησιμοποιήθηκε για την κατασκευή των κινούμενων ρομπότ. Επίσης περιγράφεται η κατασκευή των ρομπότ, η διαδικασία απόσπασης των δύο μελών της ομάδας και δίνεται το κινοδυναμικό μοντέλο τους. Στο κεφάλαιο 3 γίνεται αναφορά στην ασύρματη δικτυακή επέκταση της πλατφόρμας Lego Mindstorms NXT. Αναφέρεται ο σχεδιασμός του PCB στο οποίο ενσωματώνεται η πλατφόρμα ασύρματης επικοινωνίας (Jennic 5148), η δικτύωση του PCB για την επικοινωνία του με το Lego μέσω πρωτοκόλλου I2C καθώς και πλεονεκτήματα και μειονεκτήματα της πλατφόρμας ασύρματης επικοινωνίας. Στο κεφάλαιο 4 παρουσιάζεται ο έλεγχος των συνεργαζόμενων δικτυωμένων ρομποτικών οχημάτων και δίνονται η περιγραφή του σεναρίου που υλοποιήθηκε, οι νόμοι ελέγχου και τα πειραματικά αποτελέσματα. Στο κεφάλαιο 5 βρίσκονται τα συμπεράσματα από το πείραμα μαζί με προτάσεις για μελλοντικές βελτιώσεις της διάταξης και χρήσης της ως εκπαιδευτικό μέσο για την εξοικείωση των φοιτητών με multi-agent προβλήματα ρομποτικής. Το κεφάλαιο 6 είναι η βιβλιογραφία, ενώ τα παραρτήματα Α και Β περιέχουν τον πηγαίο κώδικα σε C και LabView και τα schematics των PCBs. / Creation of non holonomic moving robots using Lego Mindstorms NXT, control and cooperation of two of those roobots and development of a wireless communication platform for the establishment of robotic networks.