Using Model-Based Development for Teaching Fault Tolerant Systems

I’m using Simulink’s Stateflow as a tool for teaching Faul-Tolerant Systems in the Master of Mechatronics at the University of Málaga.

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Using Stateflow for the developmet of Fault Tolerant Systems

One technique for the fault diagnose of systems is based on the modeling of the system as an Finite State Machine (fms), and all the possible trajectories as an special fsm called “diagnoser”. It is based on different methods and used in the classroom as published here.

In this case we are using this tool with surprisingly good results:

  • No programming needed (just modelling)
  • High level model is created with good implementation separation
  • The student starts building successful simple programs since the first moment
  • Teachers avoid the hassle of always changing IDE’s, versions, and implementation platforms.
  • Thanks to Harel diagrams, Complex systems with high readability can be modeled.
  • Teaching time is reduced.
  • Laboratory time is focused on the problem. Leaving spare time for proper documentation.

It’s not an open source platform, but definitely I’m going to use this tool extensively.

Thanks to my students.

Please, download and cite this work:

Gomez-de-Gabriel, J.M.; Mandow, A.; Fernandez-Lozano, J.; Garcia-Cerezo, A., “Mobile Robot Lab Project to Introduce Engineering Students to Fault Diagnosis in Mechatronic Systems,” Education, IEEE Transactions on , vol.PP, no.99, pp.1,1
doi: 10.1109/TE.2014.2358551
keywords: {Education;Fault tolerance;Mechatronics;Mobile robots;Navigation;Robot sensing systems;Engineering education;LEGO Mindstorms NXT;LabVIEW;fault detection and diagnosis;higher education;mechatronics;mobile robots;project-based learning},
URL: http://ieeexplore.ieee.org/stamp/stamp.jsptp=&arnumber=6914629&isnumber=4358717

Building Zowi, the Open Source Robot

This was a very nice week-end project: building the BQ’s Zowi Open Source Robot.

You just need a 3D printer, 4 standard servos, an Arduino and cables.

Zowi Open Source Robot

Zowi Open Source Robot

I found the source at http://diwo.bq.com/zowi-cc-by-sa/

After the build I found some suggestions:

What a mess!

What a mess!

Hardware: Not all the servos come with the hub size used in the design.

Software: You have to manage to find the ocillator library and correct some misspellings.

Assembly:

  • The BQ arduino version is very cool but is not easy to find. You can use your standard arduino uno making a bigger hole on the head shell.
  • An extra hole for the switch is important too.
  • The hardest part is to fit the head shell with all the cables. A redesign with the arduino fixed toi the chasis instead of the shell could help

Many thanks to the BQ team!

 

Animatronic at the Postgraduate Courses presentation 2015-16

Our animatronic robot made a new appearance after some neck and shoulder surgery.

This was the first Postgraduate Course presentation of the University of Málaga.

We had to refurbish some of the Wall-e’s old joints, but he´s a good nice robot and did his job nicely.

Some work has to be done to improve the robot’s power system and battery charge. Anyone?

Many thanks again to my postgraduate students.

 

More videos of Wall-e in this playlist:

Wall-E Animatronic Robot at a Comic Conference

Last weekend Wall-e showed its last capabilities:

– Head-Arm Gesture control.

– Locomotion control.

– Central controller Wireless communication (raspberry pi based).

– LoL (Lots of LiPo’s)

Esteban and Felix had a very hard work to get all this working together.

People enjoyed watching this expressive character.

Among other things to be done are:

– Minor surgery on its left arm.

– A little brain able to link all its sensors with the locomotion and gesture system.

I’m using this platform as a valuable tool for student Master Thesis. They learn a lot and have a good time. So students are wanted to complete the robot.

… and BTW, If you are in the area and interested on a Show. Let us know!

Cheers

 

Goodbye, “Computer Controlled Systems” subject

I have been teaching this subject for 25 years until today, the course 2013-14.

The study programs change and this subject belongs to a program that is no longer alive. I just evaluated the tests of the last course.

This year I had the biggest amount of students I ever had in this subject. This made me change the way I did the laboratory lessons with extra work, but I didn’t care because I’ve had such a nice group students.

 grupo

I feel a bit sad about it but I’m excited about what’s to come! I’m hungry, and way too foolish.

Computer Controlled Systems 2013-14 by Slidely Slideshow

 

Thanks to, absolutely all, my students.