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Smart Manufacturing Robotics Cyber Physical System

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19 Oct 2012 (Updated )

Distributed Towers of Hanoi where three blocks with local control emerge in a sorted order.

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Description

A pick and place machine is modeled to provide services of moving blocks either one or two positions over. The objective is to move a stack of three colored blocks from one location to the next such that the final stack is ordered according to color and size. The ordering is an emerging behavior based on local control for each of the blocks. As such, this is a distributed version of the Towers of Hanoi puzzle which is an example of a cyber-physical system.

Stereoscopic vision of a video stream of the virtual world enables the machine to first locate where the stack of blocks is. Feedforward control allows a quick pick and place action. Feedback control is used to move the blocks between locations. A pneumatic airflow is modeled to enable the machine to pick and move the blocks.

http://www.youtube.com/watch?v=L85uAgMamX8

Required Products DSP System Toolbox
Simscape
Simulink
Stateflow
Simulink 3D Animation
MATLAB
MATLAB release MATLAB 8.0 (R2012b)
Other requirements To use the optional stereoscopic vision feature, the Computer Vision System Toolbox is also required.
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Comments and Ratings (3)
26 Jun 2013 Pieter Mosterman

This model was the subject of my presentation at the <i>IEEE Real-Time and Embedded Technology and Applications Symposium</i> (RTAS) Industrial Session.
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The video of my talk is available on YouTube at http://www.youtube.com/watch?v=nU9mgApFbyw

14 Jan 2013 Pieter Mosterman

A video of one scenario where a stack of blocks is sorted is available on YouTube at:
http://www.youtube.com/watch?v=L85uAgMamX8

29 Oct 2012 Joachim Schlosser

Excellent complete example for Model-Based Design!

Updates
04 Dec 2012

This version is extended to now include a third block being sorted.

08 Jan 2014

Added a link to the YouTube video that shows an animation of the sorting of an initial stack of blocks.

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