Hi Simulink Experts, I'm new in using the NXT LEGO via Simulink. My computer is 64Bit windows 7. And i installed Matlab 2012a,2012b(64 bits) & 2012b(32bits). My device managers shows it can detect the NXT via bluetooth and via usb. Also when i install the targetinstaller in matlab it was successful on all 3 versions of Matlab. The Lego demo simulink files can play in simulink domain, however when run through the target it cannot run. I cannot run all the demo, even the getting started demo in my NXT. i tried both the option USB and bluetooth and both seems not working. One test i did also is to do firmware upgrade on the NXT LEGO but this doesn't work. Even though my NXT is powered on, the USB connection is working. and there is no application running on the NXT(freshly powered on), I keep on getting the error "The call to realtime_make_rtw_hook, during the entry hook generated the following error: Connecting to LEGO MINDSTORMS NXT hardware failed. Check that: 1. LEGO MINDSTORMS NXT hardware is powered on. 2. USB connection to the LEGO MINDSTORMS NXT hardware is working. 3. LEGO MINDSTORMS NXT hardware is not running an application. I tried to use my Nxt to find the Bluetooth of my PC, and it can detect my PC name but when i connect my NXT to the PC, it says on the NXT screen "Line is busy". I'b been reading and trying online discussion stuff in many weeks now but it doesn't seems to work. Can anybody please suggest something i can try to make it work? See some attached snap shots of the errors. .