Book Report

MATLAB & SIMULINK

TEAM RUDRA_ABU ROBOCON

Soham Shreesh Chiplonkar

Team Rudra_ABU Robocon
2022-2025
Introduction
MATLAB & SIMULINK are not just tools—they are the innovation engines powering Team Rudra's
journey toward excellence in ABU ROBOCON. With these powerful platforms, we bridge the gap
between concept and reality, turning ambitious ideas into competitive robotic solutions. This report is a
testament to how these technologies transform our design process, enabling precise simulations, robust
algorithms, and seamless integration of hardware and software.

Key Highlights of Our Journey with MATLAB & SIMULINK

1. Smart Coding with MATLAB

○ Crafting efficient algorithms for decision-making, sensor fusion, and navigation.
○ Automating complex calculations to reduce human errors and save time.
2. Dynamic Simulations in SIMULINK
○ Visualizing real-world robot behaviors through intuitive block diagrams.
○ Co-simulating mechanical, electrical, and control systems for flawless designs.
3. Vision Beyond Eyes: Image Processing
○ Utilizing MATLAB’s Image Processing Toolbox for object recognition and line tracking.
○ Enabling vision-based navigation to tackle competition challenges effectively.
4. Stateflow: Logic Meets Precision
○ Modeling real-time decision-making with state machines.
○ Automating critical robot operations like task transitions and error recovery.
5. Real-World Physics with Simscape
○ Simulating motors, gears, and joints for realistic performance predictions.
○ Testing robot dynamics under competition scenarios without hardware risks.
6. Bringing CAD to Life: SIMULINK and SolidWorks
○ Integrating CAD models into SIMULINK to test kinematics and structural integrity.
○ Achieving precision by aligning design to simulation seamlessly.
7. Precision Control: PID Controllers
○ Tuning Proportional-Integral-Derivative (PID) controllers for optimal motor control.
○ Ensuring robots respond quickly and accurately to dynamic environments.
8. Hardware Integration: Arduino Explorer
○ Connecting sensors and actuators with MATLAB & SIMULINK for real-time testing.
○ Debugging and deploying hardware-in-the-loop simulations effortlessly.

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Why this matters
For ABU ROBOCON, success lies in precision, speed, and adaptability. MATLAB & SIMULINK
empower us to:

● Rapidly iterate designs while minimizing physical prototyping costs.

● Simulate real-world conditions and refine strategies before the competition day.
● Build smarter robots that think, move, and act efficiently.

This report aims to offer insights into the methodologies we’ve adopted, the tools we’ve mastered, and the
strategies we’ve implemented to give Team Rudra a competitive edge. It’s a journey through innovation,
precision, and teamwork.

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Index

Topic Page No..

Implementation 4-5

Matlab Modeling 6 - 12

Simulink Modeling 13 - 21

Stateflow Modeling 22 - 26

Arduino Explorer 27

PID Tuning 28 - 47

Image Processing 48 - 50

Mathematics 51 - 66

Data Acquisition 67 - 69

Conclusion 70

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Implementation - Bridging Design and Reality
The implementation phase is the turning point where theoretical designs, algorithms, and simulations are
brought to life. For Team Rudra, this journey was divided into four structured phases, each building upon
the previous to achieve a fully functional robot ready for ABU ROBOCON. This chapter explores how
MATLAB & SIMULINK served as indispensable tools at every step of this transformative process.

Phase 1: Arena Building and Structure Prototyping

● Designing the Arena:

Using MATLAB, we designed the competition arena with precise dimensions and features,
ensuring our robot could navigate and perform tasks seamlessly. Simscape Multibody provided a
virtual environment to test initial robot interactions with the arena layout.
● Prototyping the Robot’s Structure:
CAD models from SolidWorks were imported into SIMULINK for structural analysis. We
evaluated weight distribution, joint flexibility, and motor placements to ensure the design met
mechanical and functional requirements.

Phase 2: Modeling and Analyzing Prototypes

● Building the Prototype Models:

In this phase, we developed detailed models in SIMULINK, representing the robot's mechanical
and control systems. Each subsystem—motors, sensors, and actuators—was individually tested
before integration.
● Process Analysis:
With MATLAB’s powerful data analysis capabilities, we evaluated sensor feedback and refined
system parameters. Simscape simulations allowed us to optimize energy efficiency, speed, and
precision for the competition tasks.

Phase 3: Algorithm Development and Integration

● Algorithm Development with Stateflow:

To ensure our robot could adapt to dynamic competition conditions, we created state machine
algorithms using Stateflow. These handled task transitions like obstacle detection, object
manipulation, and route corrections in real-time.

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 ● Simulation Integration:
We combined the algorithms with SIMULINK models to test their compatibility. Sensor modules
(IR, ultrasonic, and cameras) were calibrated in MATLAB using real-world data to ensure
accuracy during simulations.

Phase 4: Hardware Implementation and Automation

● From Simulation to Hardware:

The refined SIMULINK models were deployed onto Arduino microcontrollers, ensuring seamless
integration with hardware components. MATLAB’s Arduino Explorer allowed real-time
debugging and validation of the hardware-software interface.
● Developing Automation Parameters:
PID controllers, tuned during earlier simulations, were implemented for tasks like motor speed
regulation and precise positioning. Automated routines were programmed to handle challenges
like variable obstacle placement and task timing.

Reflections and Achievements

The structured approach to implementation allowed Team Rudra to:

1. Transition smoothly from conceptual designs to physical systems.

2. Validate algorithms and models before hardware deployment, reducing risks.
3. Achieve a high degree of automation and adaptability for competition scenarios.

This meticulous implementation process ensured that every aspect of our robot was robust, reliable, and
competition-ready. In the following chapters, we delve deeper into specific tools and techniques that
enabled us to fine-tune our robot to perfection.

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The MATLAB Programming
MATLAB is a versatile platform that simplifies complex tasks in robotics, from designing algorithms to
processing real-time data. Its robust functions and specialized toolboxes allow seamless integration of
control systems, simulations, and hardware. This section highlights key MATLAB functions essential for
developing advanced robotic systems.

MATLAB is a cornerstone for robotics development, offering tools that cater to every stage of the
process. Its ability to handle data acquisition, algorithm development, and real-time deployment makes it
indispensable for robotic applications. Whether it’s designing control systems, processing sensor data, or
simulating complex robotic movements, MATLAB ensures efficiency and precision. Its integration
capabilities with hardware like Arduino and Raspberry Pi further streamline prototyping and
implementation. Additionally, MATLAB's visualization features provide insights into robot behavior,
making it easier to debug and optimize performance.

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Further some sheets are attached for quick reference to basic functions and programming style in
MATLAB Coding …

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The SIMULINK modeling
SIMULINK provides a dynamic environment for modeling, simulating, and testing robotic systems. Its
block-based approach simplifies the design of control systems, sensor integration, and motion dynamics,
enabling real-time validation of robotic behavior. With toolboxes like Simscape and Stateflow,
SIMULINK bridges the gap between simulation and hardware deployment in robotics.

The above picture shows the ARENA MODELING using SIMULINK’S Simscape Multibody library

Simscape Multibody Library

Simscape Multibody provides a powerful platform for modeling and simulating the mechanics of
robotic systems. It enables engineers to design and analyze 3D multibody dynamics, including joint
motions, forces, and interactions between components. By visualizing real-time mechanical behavior, it
helps optimize designs before physical prototyping, ensuring accuracy and reducing development time.

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Arena Modeling
Simscape Multibody enables realistic 3D modeling of the competition arena, allowing robots to interact
with virtual obstacles and surfaces. This helps in testing robot navigation and task performance,
optimizing designs before physical implementation.

The above picture shows a 3D model of ABU Robocon_2024 Arena designed in Simulink.

Simulink Multibody streamlines the robotics

arena developmenT. It creates realistic virtual
environments for SIMULATING AND
refining robot designs and IMPLEMENTED
control algorithms, cutting development time
and costs.

This Image shows the Block Structure of

Arena.

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Simulink Tool
The SolidWorks-to-SIMULINK integration allows for seamless import of CAD models into SIMULINK,
enabling the simulation of mechanical systems within a control environment. This connection helps in
analyzing robot dynamics and testing control algorithms with accurate 3D models.

The SIMSCAPE tool, offered by the

MATLAB & SIMULINK platform,
facilitated the seamless import of
diverse and intricate mechanical
structures EXPORTED IN
DIFFERENT FORMATS.

Simulink’s simscape multibody link

helps us a lot in designing the
robots and enables us To simulate
as well as examine the outcomes.

The provision to allocate the motion

and function parameters are useful
for the proper simulation not only
in ideal conditions but also enable
us to get outcomes as per real
situation and parameters.

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Simulink Electronics
Simscape Electrical enables the modeling and simulation of electrical systems, such as motors, power
electronics, and sensors, within SIMULINK. It helps design and test circuits for robotics, ensuring
efficient energy use and seamless integration with mechanical components.

To control a robot the main component is to control the motors of that robot. These motors can be a part
of a navigation system or any particular mechanism. Now to control a motor we require two components
which are Electrical control & controlling parameters. With the help of simulink we are able to build such
a model with required parameters. Here PID block is used as control parameter & Simulink - electrical
system is used to model electrical components of motor.

Further some sheets are attached for quick reference to basics of Simulink_Modeling style in
MATLAB & SIMULINK …

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The Stateflow Modeling
Stateflow enables the design of complex logic for robotic systems using state machines and flowcharts. It
is ideal for modeling decision-making processes, task sequencing, and autonomous behaviors, ensuring
robots can handle dynamic environments effectively.

After designing the robots and arena, the next task was to plan the path of the robots. For this, we used the
Stateflow model due to its simplicity, intuitive structure, and ability to generate embedded C code for
microcontroller deployment. The graphical interface of Stateflow made it easy to visualize the state
transitions and decision-making processes. Additionally, using the same model during simulation ensured
consistency between design and real-world implementation. It also allowed us to test and debug the
control flow in a virtual environment, reducing errors before hardware deployment.

Further some sheets are attached for quick reference to basics of Stateflow_Modeling style in
MATLAB & SIMULINK …

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What Is Stateflow?
Stateflow is an interactive graphical design tool that works with Simulink to model and simulate
event-driven systems, also called reactive systems. Event-driven systems transition from one operating
mode to another in response to events and conditions. These systems are often used to model logic for
dynamically controlling a physical device such as a fan, motor, or pump. Event-driven systems can be
modeled as finite-state machines.

Finite-state machines represent operating modes as states. For example, a house fan can have states such
as High, Medium, Low, and Off. To construct finite-state machines, Stateflow provides graphical objects
that you can drag and drop from a design palette to create state-transition charts in which a series of
transitions directs a flow of logic from one state to another. Stateflow also allows you to add

● Input and output data.

● Events for triggering Stateflow charts
● Actions and conditions, which you can attach to states and transitions to further define the
behavior of the Stateflow chart.

Extends the Capabilities of Traditional State Charts

Stateflow allows you to extend the capabilities of traditional state charts by

• Adding hierarchy to charts

• Modeling parallel states

• Defining functions graphically, using flow diagrams; procedurally, using

the MATLAB® language; and in tabular form, with truth tables

• Using temporal logic to schedule events

• Defining vector, matrix, and fixed-point data types

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What Does a Stateflow Chart Look Like ?
Here is an example of a Stateflow chart, which models as a finite-state machine the logic required to shift
gears in an automatic transmission system of a car:

Notice the following details in this Stateflow chart:

• Each gear and shift position is represented by a state.

• Some states are exclusive (only one can be active at a time) while others

are parallel (can be active concurrently).

• Transitions can be triggered by events and conditions.

• States can execute actions while they are active.

This chart is part of a model called sf_car that ships with Stateflow. To explore the model further, run it
from your MATLAB Command Window, as described in “Running a Demo Model” in the online
documentation Getting Started with Simulink.

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How Does Stateflow Work with Simulink ?
Stateflow charts run as blocks in a Simulink model. The Stateflow block connects to other blocks in the
model by input and output signals. Through these connections, Stateflow and Simulink share data and
respond to events that are broadcast between model and chart. For example, the Stateflow shift_logic
block is integrated with the Simulink sf_car model as shown:

You can develop your Stateflow chart before or after the Simulink model in which it will run. Stateflow
comes with its own editor and debugger, which allows you to simulate and test the chart logic before you
integrate it with a Simulink model. You can test a Stateflow chart independently of its parent model by
attaching a Simulink Source block as an input and a Simulink Sink block as an output (see “Sources” and
“Sinks” in the online Stateflow Reference documentation). During simulation, you can animate the chart
to get visual feedback about its run-time behavior. You will edit, simulate, and debug your chart later in
this guide.

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Basic Workflow for Building a Stateflow Chart
Here is a basic workflow for building Stateflow charts that accurately model event-driven systems:

At this phase, you may need to iterate between simulation and debugging your Stateflow chart as you fix
errors and experiment with different parameters until the model produces the desired behavior.

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The Arduino Explorer
The Arduino Explorer tool in MATLAB & SIMULINK simplifies the connection and programming of
Arduino boards. It allows for real-time data acquisition, sensor integration, and control testing, enabling
seamless interaction between hardware and software in robotic applications.

The Arduino Explorer facilitates robotics by serving as a versatile platform for prototyping and
implementing robotic systems. It provides a flexible environment for integrating sensors, motor
controllers, and actuators, enabling rapid testing and debugging. With real-time data visualization and
analysis in MATLAB, it simplifies hardware-software integration. Additionally, its compatibility with
SIMULINK allows seamless deployment of control algorithms, making it an essential tool for developing
and fine-tuning robotic systems.

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The PID Tuning
PID tuning in MATLAB & SIMULINK helps optimize control systems for robotic applications, such as
precise motor speed regulation and position control. Using tools like PID Tuner, engineers can
automatically tune parameters, ensuring stability and responsiveness in robotic movements.

As mentioned before, we used the PID block as the controlling parameter for the motor speed control
model. It is crucial to tune the PID gain values for optimal performance, and for this, we utilized the PID
Tuner provided by MATLAB & SIMULINK. This tool offered an intuitive interface and graphical
representation that allowed us to analyze system dynamics effectively and refine the PID gain values.
Additionally, it enabled automatic tuning to achieve a balance between response time and system stability.
The real-time adjustments and simulation capabilities ensured precise motor control and improved overall
performance during robot operation.

Further some sheets are attached for quick reference to basics of PID Tuning in MATLAB &
SIMULINK …

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The Image Processing
Image processing in MATLAB & SIMULINK enables robots to interpret and interact with their
environment. Using the Image Processing Toolbox, tasks such as object detection, line tracking, and
feature extraction can be performed efficiently. These capabilities are essential for vision-based
navigation and decision-making in robotics.

MATLAB's specialized commands and in-built functions, provided through blocks from Machine
Learning and Image Processing Toolboxes, simplified the development and implementation process. By
tweaking parameter values and input files, we successfully detected and tracked objects in the live camera
feed. Additionally, these functions included algorithms to process the live feed from the mobile camera,
converting it into numeric data for further analysis in the MATLAB model.

This approach allowed for seamless integration of machine learning algorithms with real-time image
processing capabilities.

Further some sheets are attached for quick reference to basics of Image Processing in MATLAB &
SIMULINK …

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In the initial phase, we used our mobile camera for object detection and tracking. A custom model was
created (as shown in the block diagram), and we trained a YOLO v5 model for accurate detection. For
outputs, we utilized the gTruth table as the base for our object detection model.

The coding part of the functions like input , analyze & output.

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Training Model on GPU. Here we trained a YOLO v5 model for accurate detection.

Setting & Testing with camera of Mobile device. Results are shown below.

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Mathematics
MATLAB provides powerful tools to solve mathematical equations, including linear, nonlinear, and
differential equations. Functions like solve, fsolve, and dsolve enable symbolic and numerical solutions,
making it ideal for robotics applications such as trajectory optimization and system dynamics analysis.

Julia Set Visualization in MATLAB

MATLAB provides an efficient way to visualize Julia sets, a type of fractal derived from complex
numbers. By iterating a mathematical function over a grid of complex numbers, MATLAB generates
intricate, self-repeating patterns. These visualizations can be customized using colormaps and iterations to
produce stunning fractal structures. Julia sets are not only visually appealing but also serve as a tool to
explore mathematical chaos and complex dynamics.

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Legendre Polynomial

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Legendre Polynomial

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Chebyshev Polynomial

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Chebyshev Polynomial

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Fractal Fern
The fractal fern is a visualization of self-similarity created using iterative functions in MATLAB. By
applying transformations with specific probabilities, MATLAB generates a fern-like structure that mimics
natural growth patterns. This demonstrates the power of mathematical modeling in creating realistic
fractals.

Applications

The fractal fern, created using iterative functions in MATLAB, is not only a visualization of self-similar
patterns but also has practical applications in solar cell technology. Its unique geometry enhances light
trapping and absorption efficiency, making solar panels more effective. By increasing the surface area for
light interaction, fractal designs maximize photon absorption, while their ability to scatter light reduces
reflection losses and improves overall energy conversion. Inspired by natural fractal patterns like fern
leaves, these designs lead to innovative solar panel architectures. MATLAB's powerful modeling tools
allow for precise simulation and optimization of fractal geometries, enabling tailored designs for specific
solar cell materials. This fusion of fractal modeling and renewable energy highlights the potential of
mathematical concepts to advance sustainable technology.

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Lorenz Attractor
The Lorenz attractor, generated using MATLAB, is a chaotic system that models atmospheric convection
and demonstrates sensitive dependence on initial conditions. By solving its set of differential equations,
MATLAB visualizes the fractal-like trajectory, revealing complex, unpredictable behavior typical of
chaotic systems.

A Butterfly Effect

Further some sheets are attached for quick reference to the applications of Lorenz Attractor in
MATLAB & SIMULINK …

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Data Acquisition
Data acquisition in MATLAB & SIMULINK allows seamless integration with sensors, devices, and
hardware to collect real-time data for analysis. Using the Data Acquisition Toolbox, users can interface
with a wide range of data sources, process the information, and visualize or analyze it within the
MATLAB environment for various applications, including robotics and control systems.

This Image shows the data acquisition from source file, analyzes it and makes an analysis of stock price
over a time period.

This is Data after analysis of stock prices over a period of time.

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This Image shows the calculation of closing price with advance calculations on Data which was analyzed
in the previous stage.

This Image shows the candlestick graph to analyze all processes easily.

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Data Acquisition through Mobile device

This data analysis, obtained from the MATLAB Mobile app, is essential for the interconnection of the
mobile camera to the MATLAB model used during the image processing phase of implementation. The
app facilitates real-time sensor feedback and data values, allowing seamless integration of the camera
with the model. This data provides valuable insights, enabling efficient analysis and control of the robotic
system.

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Conclusion
In conclusion, the integration of MATLAB and SIMULINK in robotics has proven to be an invaluable
tool throughout the design, simulation, and implementation phases of our project. From the initial stages
of modeling the robot and arena to the precise tuning of control systems using PID blocks, every aspect
was enhanced by MATLAB's powerful capabilities. The use of image processing, stateflow modeling, and
real-time data acquisition has significantly improved our robotic system's efficiency and performance.
Additionally, tools like Simscape Multibody and the Arduino Explorer enabled seamless hardware
integration, while advanced features like fractal-based designs and solar cell applications showcased the
potential of mathematical modeling in innovation. This project has not only demonstrated the practicality
of MATLAB and SIMULINK in robotics but has also opened new avenues for future advancements in
automation, energy efficiency, and control systems. The synergy between theoretical modeling and
real-world implementation makes MATLAB and SIMULINK indispensable in the field of robotics.

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Thank You
TEAM RUDRA_ABU ROBOCON

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