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NXT Scanner with Lego Mindstorms NXT

by Yoshiaki Banno

 

02 Mar 2009 (Updated 11 May 2009)

Code covered by BSD License  

NXT Scanner Model-Based Design based on Embedded Coder Robot NXT.

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Description

The NXT Scanner is an image scanner that can scan images using a light sensor and scanned data are transferred to a PC via USB. MATLAB is used for image processing (contrast adjustment, image interpolation and image deconvolution) in the PC. The NXT Scanner is developed using MATLAB/Simulink and Stateflow.

You can see the NXT Scanner demo movie at youtube.
http://www.youtube.com/watch?hl=en&v=hadVwPJw3_0

This demo requires Embedded Coder Robot NXT Demo as MBD environment. You need to download it from the following URL before trying this demo.
http://www.mathworks.com/matlabcentral/fileexchange/13399

nxtOSEK/JSP
ANSI C/C++ with OSEK/μITRON RTOS for LEGO® MINDSTORMS® NXT
http://lejos-osek.sourceforge.net/index.htm

<Disclaimer>
LEGO(R) is a trademark of the LEGO Group of companies which does not sponsor, authorize or endorse this demo. LEGO(R) and Mindstorms(R) are registered trademarks of The LEGO Group.

Acknowledgements

The author wishes to acknowledge the following in the creation of this submission:
Embedded Coder Robot NXT Demo

Required Products Image Processing Toolbox
Real-Time Workshop Embedded Coder
Simulink
Simulink Design Verifier
Simulink Verification and Validation
Stateflow
Stateflow Coder
PolySpace Client for C/C++
PolySpace Model Link SL
PolySpace Server for C/C++
Real-Time Workshop
MATLAB release MATLAB 7.7 (R2008b)
Other requirements Embedded Coder Robot NXT nxtOSEK/JSP
Zip File Content  
Other Files
nxtscanner_model/data_communication.mdl,
nxtscanner_model/documents/NXT Scanner ,
nxtscanner_model/documents/NXT Scanner ,
nxtscanner_model/documents/NXT Scanner Building Instructions.pdf,
nxtscanner_model/documents/NXT Scanner Model-Based Design.pdf,
nxtscanner_model/environment/ControlModeEnum.m,
nxtscanner_model/environment/EnumSample.mdl,
nxtscanner_model/environment/ErrorCodeEnum.m,
nxtscanner_model/environment/FeedModeEnum.m,
nxtscanner_model/environment/nxtscanner.m,
nxtscanner_model/environment/NXTScannerViewer.fig,
nxtscanner_model/environment/NXTScannerViewer.m,
nxtscanner_model/environment/ScanModeEnum.m,
nxtscanner_model/environment/ScannerBufferInfoEnum.m,
nxtscanner_model/environment/SDOxlsIF/ENG/mpt.mat,
nxtscanner_model/environment/SDOxlsIF/ENG/mpt.xls,
nxtscanner_model/environment/SDOxlsIF/ENG/Simulink.mat,
nxtscanner_model/environment/SDOxlsIF/ENG/Simulink.xls,
nxtscanner_model/environment/SDOxlsIF/JPN/mpt.mat,
nxtscanner_model/environment/SDOxlsIF/JPN/mpt.xls,
nxtscanner_model/environment/SDOxlsIF/JPN/Simulink.mat,
nxtscanner_model/environment/SDOxlsIF/JPN/Simulink.xls,
nxtscanner_model/environment/SDOxlsIF/private/addExtIfNeeded.m,
nxtscanner_model/environment/SDOxlsIF/private/convertLocalizedPropName.m,
nxtscanner_model/environment/SDOxlsIF/private/convertLocalizedSheetName.m,
nxtscanner_model/environment/SDOxlsIF/private/convertMLDataType.m,
nxtscanner_model/environment/SDOxlsIF/private/convertXLSDataType.m,
nxtscanner_model/environment/SDOxlsIF/private/dec2base27.m,
nxtscanner_model/environment/SDOxlsIF/private/getCellValue.m,
nxtscanner_model/environment/SDOxlsIF/private/getFileExt.m,
nxtscanner_model/environment/SDOxlsIF/private/isValidClassName.m,
nxtscanner_model/environment/SDOxlsIF/private/readDEFInfo.m,
nxtscanner_model/environment/SDOxlsIF/private/readSDOInfo.m,
nxtscanner_model/environment/SDOxlsIF/private/startExcel.m,
nxtscanner_model/environment/SDOxlsIF/private/writeSDOInfo.m,
nxtscanner_model/environment/SDOxlsIF/sample/custom_comments_example.m,
nxtscanner_model/environment/SDOxlsIF/sample/DataDictionary_DATATYPE.xls,
nxtscanner_model/environment/SDOxlsIF/sample/DataDictionary_DATATYPE1.xls,
nxtscanner_model/environment/SDOxlsIF/sample/DataDictionary_PCG_FixPt.xls,
nxtscanner_model/environment/SDOxlsIF/sample/DataDictionary_PCG_FixPt1.xls,
nxtscanner_model/environment/SDOxlsIF/sample/DataDictionary_PCG_Float.xls,
nxtscanner_model/environment/SDOxlsIF/sample/DataDictionary_PCG_Float1.xls,
nxtscanner_model/environment/SDOxlsIF/sample/DataDictionary_PCSim.xls,
nxtscanner_model/environment/SDOxlsIF/sample/DataDictionary_PCSim1.xls,
nxtscanner_model/environment/SDOxlsIF/sample/datamngtworkflow.mdl,
nxtscanner_model/environment/SDOxlsIF/sample/usertype.h,
nxtscanner_model/environment/SDOxlsIF/sample_ENG/SampleScript_ENG.m,
nxtscanner_model/environment/SDOxlsIF/sample_ENG/TestFile_ENG.xls,
nxtscanner_model/environment/SDOxlsIF/sample_ENG/TestFile_ENG_mpt.xls,
nxtscanner_model/environment/SDOxlsIF/sample_ENG/TestFile_ENG_Simulink.xls,
nxtscanner_model/environment/SDOxlsIF/sample_JPN/SampleScript_JPN.m,
nxtscanner_model/environment/SDOxlsIF/sample_JPN/SDOxlsIF_JPN.pdf,
nxtscanner_model/environment/SDOxlsIF/sample_JPN/TestFile_JPN.xls,
nxtscanner_model/environment/SDOxlsIF/sample_JPN/TestFile_JPN_mpt.xls,
nxtscanner_model/environment/SDOxlsIF/sample_JPN/TestFile_JPN_Simulink.xls,
nxtscanner_model/environment/SDOxlsIF/xlsreadsdo.m,
nxtscanner_model/environment/SDOxlsIF/xlssdoinfo.m,
nxtscanner_model/environment/SDOxlsIF/xlswritesdo.m,
nxtscanner_model/mode_control.mdl,
nxtscanner_model/mode_control_prm.m,
nxtscanner_model/mode_control_verification_lib.mdl,
nxtscanner_model/nxtscanner.xls,
nxtscanner_model/nxtscanner_ctrl.mdl,
nxtscanner_model/nxtscanner_ctrl_polyspace.cfg,
nxtscanner_model/nxtscanner_lib.mdl,
nxtscanner_model/paper_feed_mechanism.mdl,
nxtscanner_model/polyspace/polyspace.h,
nxtscanner_model/polyspace/polyspace_main.c,
nxtscanner_model/polyspace_additional_file_list.txt,
nxtscanner_model/ScanDataResults/cat.mat,
nxtscanner_model/ScanDataResults/kuidaore.mat,
nxtscanner_model/ScanDataResults/lena.mat,
nxtscanner_model/ScanDataResults/logo.mat,
nxtscanner_model/scanner_head.mdl,
nxtscanner_model/scanner_head_prm.m,
nxtscanner_model/setup_nxtscanner.m,
nxtscanner_model/usb_result.mat,
nxtscanner_model/usb_result1.mat,
nxtscanner_model/usb_test_data.mat,
nxtscanner_model/usb_test_number.mat,
nxtscanner_model/usb_test_signal.mdl,
nxtscanner_model/usb_test_state.mat
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Updates
11 May 2009

What's new in V1.10:
- Add English documents: NXT Scanner Model-Based Design.doc & NXT Scanner Building Instructions.doc
- Modified Japanese documents

Tag Activity for this File
Tag Applied By Date/Time
simulink Yoshiaki Banno 02 Mar 2009 11:26:54
simulation Yoshiaki Banno 02 Mar 2009 11:26:54
demo Yoshiaki Banno 02 Mar 2009 11:26:54
image processing Yoshiaki Banno 02 Mar 2009 11:26:54
modeling Yoshiaki Banno 02 Mar 2009 11:26:54
embedded code Yoshiaki Banno 02 Mar 2009 11:26:54
communications Yoshiaki Banno 02 Mar 2009 11:26:54
polyspace Helen Chen 03 Mar 2009 14:01:48
ecrobot Gautam Vallabha 08 Apr 2009 13:15:11
 

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