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.

Before vehicles that go to sale for public it goes through many stages of testing in different fields. All types of pre-production cars are the vehicles that come after prototypes which allow the OEM to find out possible issues by running different categories of tests. One of the most important fields of test is regarding safety. When it comes to autonomous cars, where safety is crucial, the number of tests to carry out, time for handling them and their complexity is increased. To reduce costs, complexity and time some of them might be simulated. After the analysis is done the cars have to be tested in real time to collect more data, not only from car sensors but also through observation from the tests filmed. This thesis contains an overview of whole project leading to develop an autonomous platform, driving after autonomous car and controlled by simulation environment and solving major issues of the project. The filming of autonomous cars remotely had two major issues. One of the issues was to integrate all the different software and platforms. The trajectories of the autonomous cars were controlled in different software and the trajectories of the RC were managed in different software. The solution to integrate all the software and platforms is shown in this thesis. The second issue was to make the RC car to follow the waypoints that are generated by simulation and by communicating with real car using a PID controller. The project is prepared for future improvements, like installing a camera to the RC car which will follow predefined test independently.

Tese de mestrado. Engenharia Electrotécnica e de Computadores (Área de especialização em Sistemas Digitais e Informática Industrial). Faculdade de Engenharia. Universidade do Porto. 2007

Unmanned aerial vehicles and unmanned ground vehicles, or UAVs and UGVs respectively, currently perform a large variety of missions usually centered around reconnaissance. Because the platforms may vary for a particular type of mission--everything from small unmanned airplanes and remote control vehicles to large vehicles such as the Yamaha R-MAX helicopter and Hummer--flight and navigation controllers must be changed to allow proper control of the selected platform. Currently, controllers are designed and tested in MATLAB/SIMULINK, but then rewritten in C or Assembly for a specific target platform. When designing controllers in a programming language, changes are often tedious, so producing a working controller takes considerable time. MATLAB/SIMULINK provides a GUI interface and SIMULINK provides excellent testing capabilities, so changes may be quick and easy. However, no automated method for converting a simple controller, such as a PID for example, from MATLAB to implementation on a microcontroller has been presented in literature. To implement current in-house controllers designed in MATLAB/SIMULINK, a system consisting of Real-Time Workshop and a C compiler has been used to produce assembly code for a target microcontroller. To aid in verification of the controllers and C code produced by Real-Time Workshop targeted toward aerial platforms, an interface for the controllers in SIMULINK and a flight simulator (X-Plane) has been created. Thus the overall system allows for rapid changes and implementation on a variety of platforms as well as plug-in/plug-out capabilities in the field for diverse missions. Functionality and diversity of the system is demonstrated through testing of PID VTOL controllers in SIMULINK with X-Plane as well as implementation of UGV controllers onboard a small radio controlled truck.

<p>DVB (Digital video broadcasting) is the television digital system. It's however much more than a simple replacement for existing analogue television transmission, this system has many advantages such as picture quality and allows you a range of new features and services including subtitling, multiple audio tracks, interactive content, multimedia content... </p><p>The system is based in the OFDM technology, which allows DVB system to exploit the spectrum frequencies in a better way, saving spectrum, but OFDM has an important drawback that is the peak to average power ratio problem. OFDM is based on the FFT algorithms generating several orthogonal subcarriers. This thesis talks about the improvement of the PAPR problem using the clipping method. </p><p>The simulation has been developed in Simulink® and Matlab®. With all the information presented in this thesis, any user can simulate the system. Thus, this thesis can be improved using other using other techniques to solve the PAPR problem.</p>

<p>Inom detta examensarbete implementeras i SIMULINK en modell av ett trådlöst överföringssystem enligt IEEE802.11a standarden. Modellen klarar av att hantera störningskällor som är vanligt förekommande i den miljö applikationen operar på. Denna modell utvärderas sedan för att avgöra dess belastningsförmåga och vid vilka värden den brister.</p><p>Första delen av rapporten beskriver målsättningen och syftet med detta examensarbete, samt metodvalet och rapportens uppläggning som tillämpats.</p><p>Rapportens andra del innehåller en allmän beskrivning av digital radiokommunikation och OFDM-baserade system. Därefter beskrivs teorin av både sändaren och mottagaren enligt IEEE802.11a standarden. Slutligen behandlas ett flertal vanligt förekommande synkroniseringsalgoritmer som har blivit publicerade.</p><p>I rapportens tredje del diskuteras de verktyg som har använts för att bygga modellen. Denna del fortsätter sedan med att kort beskriva valen av de algoritmer som har tillämpats i modellen.</p><p>Fjärde och sista delen av rapporten delas in i två kapitel. I första kapitlet sker de simuleringar som erfordras för att kunna utvärdera modellen. Examensarbetet knyts sedan ihop vid resultatkapitlet, där även förslag på fortsatt arbete diskuteras.</p> / En ny version av examensarbetet har lagts till i listan (nr. 2) på begäran av författaren med anledning av att författaren har bytt namn.

<p>In recent years Hardware-in-the-Loop HiL, has gained more and more</p><p>popularity within the vehicle industry. This is a more cost effective research alternative, as opposed to the tests done the traditional way, since in HiL testing the idea is to test the hardware of interest, such as an electronic control unit, in a simulated (or partially simulated) environment which closely resembles the real-world environment.</p><p>This thesis is ordered by Daimler Chrysler AG and the objective of this thesis is the developing of a cylinder-by-cylinder model for the purpose of emulation of misfire in a four-stroke SI-engine. This purpose does not demand a precise modelling of the cylinder pressure but rather an adequate modelling of position and amplitude of the torque produced by each cylinder. The model should be preferebly computaionally tractable so it can be run on-line. Therefore, simplifications are made such as assuming the rule of a homogenous mixture, pressure and temperature inside the cylinder at all steps, so the pressure model can be analytical and able to cope with the real-time demand of the HiL. The model is implemented in Simulink and simulated with different sample rates and an improvement is to be seen as the sample rate is decreased.</p>

<p>As integrated circuits get smaller, faster and can fit more functionality, more problems arise with wire delays and cross-talk. Especially when using global clock signals distributed over a large chip area. This thesis will briefly discuss a solution to this problem using the Globally Asynchronous Locally Synchronous (GALS) design path.</p><p>The goal of this thesis was to test the solution by modelling and partially implementing an MPEG-2 video decoder connected as a GALS system, using synchronous design tools. This includes design of the system in Simulink, implementing selected parts in VHDL and finally testing the connected parts on an FPGA. Presented in this thesis is the design and implementation of the system as well as theory on the MPEG-2 video decoding standard and a short analysis of the result.</p>

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