Model Based Development of Embedded Systems HT 14

Overal Goals

Week	Date		Time	Place	What
35	Mon	28/8	13-15	1113	Motivation, Course Overview
	Thu	31/8	10-12	2245	MATLAB exercises
	Fri	1/9	10-12	1112	Modeling in Simulink
36	Tue	5/9	13-15	1245	Modeling Simulink (ctd.)
	Wed	6/9	10-12	1145	Simulink internals
	Thu	7/9	08-10	1113	Simulink Exercises
37	Mon	11/9	08-10	1113	State Machines
	Wed	13/9	15-17	1112	Modeling physical movement, bodies, etc.
	Fri	15/9	10-12	1245	Control theory (overview of basic concepts)
38	Wed	20/9	13-15	1145	LQ controller design with Observers using Simulink: preparatory reading, slides .pdf, .pptx and some exercises
	Thu	21/9	15-17	1112	Guest Lecture on Modelica by prof. Peter Fritzson Linköping Univ. Before the lecture, please install Modelica on your laptops, and bring laptops to the lecture
	Fri	22/9	10-12	1146	Handing out LEGO NXTs and assembling them
39	Tue	26/9	13-15	1146	Model of NXT Robot. model and initialization for collision avoidance for airplanes.
	Wed	27/9	15-17	1113	LAB: Carrying out Assignment 3
	Thu	28/9	10-12	2345	Topic as needed
40	Mon	2/10	10-12	1145	Model of NXT Robot. model and initialization for collision avoidance for airplanes.
	Wed	4/10	15-17	1113	LAB: Carrying out Assignment 3
	Thu	5/10	10-12	1146	Topic as needed
41	Mon	9/10	15-17	1113	Lustre: slides and examples
	Tue	10/10	10-12	1145	Project work
	Thu	12/10	13-15	1113	Lustre: slides and examples
42	Mon	16/10	15-17	1113	Project Work
42	Fri	17/10	08-17	TBD	Final exam Note change of date
??	TBD	TBD	08-17	Final Reexam

Here are some links to relevant resources: Courses, lectures that cover similar and related topics (the list will be extended)

Model Based Design
- Embedded Systems - Model-Based Design Course given at Scuola Superiore Sant'Anna in 2013.
On Simulink and Stateflow
- Introduction to Model-Based System Design, course given at Rose-Hulman Institute Of Technology (you could look at lecture notes)
- Getting Started with Simulink
- Simulink Reference Manual
- Getting Started with StateFlow.
On Modeling and Control Generation for Simulink
- Control Tutorials for MATLAB and Simulink. These give an introduction to modeling and controller design using Simulink.
Related, Relevant Courses, e.g.,
- Introduction to Computer Control Systems (1RT485, 5hp)
Material on Balancing LEGO NXT on Two wheels
- Install Support for LEGO MINDSTORMS NXT Hardware
- To use simulink models we need to replace default firmware in LEGO NXT
- Default block library also have tutorial
- main page with links to models, and documentation for NXT software
- self-balancing-two-wheeled-robot controller-design with models and documentation

Lecturer: Bengt Jonsson, room 1435, phone 471 3157, e-mail: bengt (at) it (dot) uu (dot) se, homepage

Office Hours: as you like, room 1435
Teaching Assistant: Syed Md Jakaria Abdullah, room 1316, e-mail: Jakaria.Abdullah@it.uu.se, web page
Teaching Assistant: Cong Quy Trinh, room 1453, e-mail: cong-quy.trinh@it.uu.se, web page

The overall grade will (roughly equally) combine these three parts.

Assignment 1 has been handed out and is due 140919. Here is some further info on modeling.
Assignment 2 has been handed out and is due 140923.
Assignment 3 will be to modify the NXTRobot so that whenever it encounters an obstacle, it navigates around it and continues on the other side along the same path (assuming that the obstacle has a fixed width). A more detailed description will follow.
Assignment 4 has been handed out and is due 141020.

Here are suggestions for projects that extend the LEGO functionality. You should present suggestions for your own extension before October 10. The project should be demonstrated and handed in by October 24 .

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