AUTOMATION CONTROL INSTITUTE INSTITUT FR AUTOMATISIERUNGS REGELUNGSTECHNIK Utilizing

AUTOMATION & CONTROL INSTITUTE INSTITUT FÜR AUTOMATISIERUNGS& REGELUNGSTECHNIK Utilizing Lego Mindstorms nxt(tm) as Teaching and Training Platform for IEC 61499 4 DIAC Users’ Workshop ETFA, Bilbao, Spain September 16, 2010 Alois Zoitl zoitl@acin. tuwien. ac. at

Motivation ¾ Inexpensive starting kits (~300€): ¾ Processor (Arm 7) ¾ 64 k. B Ram, 256 k. B Flash ¾ 3 Motors ¾ Sensors (color, 2 push-button, ultrasonic) ¾ ~600 Lego-Blocks ¾ ECOS port available (open source real-time operating system) ¾ FORTE port included on Source. Forge September 16, 2010 Lego Mindstorms nxt(tm) with 4 DIAC 2

Vision FORTE firmware type FORTE file generation source files / e. Cos libraries. h /. cpp FB. h Application download arm-elf-gcc IEC 61499 Ethernet to USB Converter USB serial profile forte. bin ATMEL AT 91 ISP/SAM-BA® USB September 16, 2010 Lego Mindstorms nxt(tm) with 4 DIAC 3

Planned Training Scenarios ¾ Typical applications in industrial automation ¾ Built on each other ¾ Increasing difficulty ¾ Deepening main IEC 61499 concepts ¾ Currently tutorials are beeing developed September 16, 2010 Lego Mindstorms nxt(tm) with 4 DIAC 4

Tutorials Under Development ¾ Light blinking application ¾ Goal: usage of sensors and actuators (light); understand application timing ¾ Line following robot ¾ Goal: understand Basic Function Blocks; Closed Loop Control (Motors); Management of resources ¾ Car Wash ¾ Goal: develop Service Interface Function Blocks; Improved Closed Loop Control (e. g. , PID) ¾ Part Sorting and Packaging ¾ Goal: timed buffers; Position control (Pick and Place); Monitoring of conveyor belt September 16, 2010 Lego Mindstorms nxt(tm) with 4 DIAC 5

Current State ¾ FORTE runs on Lego Controller ¾ 4 DIAC-IDE can download via Java-proxy and USB ¾ FBs for ¾ Push-Sensor ¾ Buttons ¾ LED / Light-Sensor ¾ Sound Sensor ¾ Motors ¾ Needs JTAG connector for debugging voids guarantee September 16, 2010 Lego Mindstorms nxt(tm) with 4 DIAC 6

Example Line Following Robot September 16, 2010 Lego Mindstorms nxt(tm) with 4 DIAC 7

Next Steps ¾ Develop FBs for ¾ Ultra-sonic sensor ¾ Display ¾ Sound ¾ Testing and improvements ¾ Work without JTAG ¾ Use binary XML for improving performance and memory usage ¾ Will be released to public via 4 DIAC-Wiki: http: //sourceforge. net/apps/mediawiki/fordiac ¾ Additional tutorials, examples and suggestions are warmly welcome September 16, 2010 Lego Mindstorms nxt(tm) with 4 DIAC 8

Further Developments ¾ Utilizing Lego’s Bluetooth for distributed applications ¾ Connecting 4 DIAC with Virtual Lego September 16, 2010 Lego Mindstorms nxt(tm) with 4 DIAC 9