2024-03-28T21:48:10Zhttps://keep.lib.asu.edu/oai/requestoai:keep.lib.asu.edu:node-1521792021-08-30T18:37:48Zoai_pmh:all152179
https://hdl.handle.net/2286/R.I.20809
http://rightsstatements.org/vocab/InC/1.0/
All Rights Reserved
2013
xii, 139 p. : col. ill
Masters Thesis
Academic theses
Text
eng
Raji Kermani, Ramtin
Fainekos, Georgios
Lee, Yann-Hang
Sarjoughian, Hessam S.
Arizona State University
Partial requirement for: M.S., Arizona State University, 2013
Includes bibliographical references (p. 115-120)
Field of study: Computer science
As the complexity of robotic systems and applications grows rapidly, development of high-performance, easy to use, and fully integrated development environments for those systems is inevitable. Model-Based Design (MBD) of dynamic systems using engineering software such as Simulink® from MathWorks®, SciCos from Metalau team and SystemModeler® from Wolfram® is quite popular nowadays. They provide tools for modeling, simulation, verification and in some cases automatic code generation for desktop applications, embedded systems and robots. For real-world implementation of models on the actual hardware, those models should be converted into compilable machine code either manually or automatically. Due to the complexity of robotic systems, manual code translation from model to code is not a feasible optimal solution so we need to move towards automated code generation for such systems. MathWorks® offers code generation facilities called Coder® products for this purpose. However in order to fully exploit the power of model-based design and code generation tools for robotic applications, we need to enhance those software systems by adding and modifying toolboxes, files and other artifacts as well as developing guidelines and procedures. In this thesis, an effort has been made to propose a guideline as well as a Simulink® library, StateFlow® interface API and a C/C++ interface API to complete this toolchain for NAO humanoid robots. Thus the model of the hierarchical control architecture can be easily and properly converted to code and built for implementation.
robotics
Computer Science
Computer Engineering
Automatic Code Generation
Legacy API Integration
Model-based design
NAO Robots
StateFlow and Simulink
Embedded computer systems
Coding theory
Model-based design, simulation and automatic code generation for embedded systems and robotic applications