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The Team. Clara Cardoso (Acoustical Engineering) Ian Farmer (Electronic Engineering) Sam Hopper (Electronic Engineering) Julian Seidenberg (Software Engineering). Project Goals.

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The team

The Team

  • Clara Cardoso (Acoustical Engineering)

  • Ian Farmer (Electronic Engineering)

  • Sam Hopper (Electronic Engineering)

  • Julian Seidenberg (Software Engineering)

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Project goals

Project Goals

  • To build an online virtual laboratory for control systems demonstrations with 3D illustrations of the Simulink models

  • To develop this system as a cross-platform successor to existing tools such as the Matlab VR Toolbox 2.0

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Presentation outline

Presentation outline

  • System Architecture

  • Simulink models

  • System timing and control wrapper

  • Java Client/Server system

  • 3D VRML illustrations

  • Integration and testing

  • Conclusions

  • Questions

  • Demonstration

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


System architecture

System Architecture

  • System-Level View

  • Task breakdown

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Architecture overview

Architecture Overview

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Architecture detail

Architecture Detail

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Advantages

Advantages

  • Platform independence

  • Scalability & Load Balancing

  • Redundancy & Recoverability

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Disadvantages

Disadvantages

  • Complexity

    • More complex than a simple single host-to-host network connection

    • More effort to install and configure

  • Performance

    • Layer of indirection causes slight delay

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Task breakdown

Task Breakdown

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Simulink models

Simulink Models

  • Bouncing Ball model

  • Radar Tracking

  • Pendulum

  • F14 Flight Control

  • Newton’s Cradle

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Bouncing ball model

Bouncing ball model

  • Simple system

  • Adapted from Matlab demo model

  • Expanded to move three-dimensionally

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Radar tracking

Aircraft position

RADAR filter

Estimated position

+

+

Measurement noise

Radar tracking

  • Matlab demonstration model

  • Drop in model

  • Undocumented

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Pendulum

Pendulum

  • Simple pendulum model

  • Rotation not translation

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


F14 flight control

F14 flight control

  • Matlab demonstration model

  • Models elevator control

  • M-file control of variables

Elevator

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


F14 flight control 2

F14 flight control (2)

  • Adaptation of controller

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Newton s cradle

Newton’s cradle

  • One pendulum model per sphere

  • Connected via collision modelling blocks

  • Pendulum velocity can be set on collision

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


System timing and control wrapper

System Timing and Control Wrapper

  • Controls the timing of the control system simulation

  • Interfaces the simulation with the server

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


System timing

System Timing

  • Data sent from Simulink:

    • in fixed-length packets

    • at fixed intervals

  • Display applet requires a regular data stream

  • Therefore the accuracy of the timing is important for a smooth simulation

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Timing development

Timing Development

  • First timing test

    • Used a fixed pause between packets

    • Caused a gradual time lag

  • Second timing test

    • Used absolute timing from system clock

    • Sufficient accuracy is achieved

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Development of control wrapper

Development of Control Wrapper

  • Implementation of a dataflow delay using an s‑function block

  • Delay block can halt the execution of the simulation at regular intervals

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Final timing and control wrapper

Final Timing and Control Wrapper

  • Implemented as a two-block wrapper for a control system model

    • Datasource: providing the control system’s inputs from the server

    • Datasink: regulating the execution speed and sending the control system’s outputs to the server

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Java client server system

Java Client/Server System

  • Technology choices

  • System topology

    • Matlab/Java Interface

    • Process View (Server)

    • Java Control Applet

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Technology choices

Technology choices

  • Java 1.1

    • not:

      • PHP

      • ColdFusion

      • C/C++

      • C#

      • Matlab

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Technology choices 2

Technology choices (2)

  • IBM Java Classbroker

    • not:

      • Java RMI

      • XML-RPC

      • SOAP

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Matlab java interface

Matlab/Java Interface

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Process view

Process View

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Java control applet

Java Control Applet

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


3d worlds

3D Worlds

  • Why?

    • To create illustrations of the control systems

    • To appeal to users

  • Building

    • Combining and scaling:

      • Created objects

      • Existing objects on the web

      • Modified downloaded objects

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Software used

Software Used

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Software used 2

Software Used (2)

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Bouncing ball

Bouncing Ball

  • Ball inside a box controlled by Simulink

  • Used to learn and become familiar with VRML

  • Grass texture in the ground and a textured hemisphere sky

  • Airplane propellers and windmill sails rotate

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Radar world

Radar World

  • Radar to track an airplane

  • The phantom airplane shows the radar tracking

  • “Normal” airplane shows what the radar should track

  • Radar created in Blender

  • Camera tracking the planes so that the user is able to follow them whilst they fly around in the world.

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


F14 world

F14 World

  • F14 flying

  • Camera tracking the plane so that the user is able to follow it while flying around in the world.

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Newton s cradle1

Newton’s Cradle

  • User to interact with a Newton’s cradle

  • Newton’s cradle developed in Blender

  • House made from rectangular planes

  • Window is a rectangular plane with its transparency material property set to a low value

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Pendulum1

Pendulum

  • A pendulum swinging represented by a pendulum clock

  • Room with old fashioned objects

  • Pendulum needed to function as a different group to the rest of the object modelled using MilkShape3D

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Integration and testing

Integration and Testing

  • System Integration

  • Summary of Testing

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


System integration

System Integration

  • Control System models  3D Worlds

    • Synchronising objects and nodes from the model to the world

    • Ensuring correct positioning and visualisation

  • Control System Models  Interface Wrapper

    • Incorporating the final model as a sub-system in the interface wrapper

  • Interface Wrapper  Server

    • Using instances of Java objects to connect and transfer data to and from the server

  • Server  Client

    • Finalising networking code in order to let multiple clients connect to multiple servers

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Summary of testing

Summary of Testing

  • Simulation timing and execution test results

    • Performance is dependent on the power of the host computer

    • Increased sample times need more processing power

  • Java client/server system test results

    • Works without major failures under most conditions

    • However, re-declaration of variables caused stability problems over extended periods of operation until fixed.

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Summary of testing1

Summary of Testing

  • Other areas tested:

    • Performance/load testing

    • Fail-over Testing

    • Cross platform compatibility

  • Areas not tested:

    • Usability testing

    • Security testing

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Summary

Summary

  • Evaluation

  • Conclusions

  • Future Work

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Evaluation

Evaluation

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Conclusions

Conclusions

  • Platform independence: by the use of a three-tier system and the Java technology

  • Privacy & Security: isolation of Matlab and Java applet clients from each other through the server was achieved.

  • Scalability & Load Balancing: The system continued to run with a load of 3000 simultaneously connected clients.

  • Analysability & Testability: It is relatively simple to create client applicants to analyse and test the system.

  • Maintenance & Flexibility: Good maintainability. Encapsulation in objected-oriented programming ensures the system is flexible.

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Conclusions 2

Conclusions (2)

  • Stability & Recoverability: The system is resistant to clients crashing. Recovery occurs quickly enough in normal use.

  • Small size & quick download: Average download time of just over a minute for a dial-up user and seven seconds for a broadband user

  • Ease of use: The web pages are intuitive.

  • Performance: Adequate performance on an up-to-date computer.

  • Accuracy: Accurate as possible with today’s technology.

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Conclusions 3

Conclusions (3)

  • The system can be used by clients with a broad range of skill levels

    • simple

    • accessible

    • diverse selection of examples

  • Potential application areas:

    • virtual teaching laboratories

    • advertisement on the University web page

    • worldwide conferences.

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Future work

Future Work

  • Improving security

  • Improving analysability

  • Improving display smoothness

  • Introducing dynamic data stream buffering

  • Creating an automatic installation system

  • Creating a system that solely uses Matlab and is not reliant on Simulink

  • Increasing the amount of control a user has over Matlab

  • Increasing the amount of information provided on the web pages.

  • Providing cut down versions of the VRML models for slow Internet connections

  • Providing a three-dimensional object library

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


Demonstrations

Demonstrations

GDP: Virtual 3D Control Systems WWW Demonstrator based on Matlab


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