{"id":705,"date":"2020-03-31T11:02:26","date_gmt":"2020-03-31T11:02:26","guid":{"rendered":"https:\/\/babel.isa.uma.es\/jafma\/?p=705"},"modified":"2022-04-01T08:13:32","modified_gmt":"2022-04-01T08:13:32","slug":"lmml","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/2020\/03\/31\/lmml\/","title":{"rendered":"Lego Mindstorms Minimalist Matlab Library for mobile robot simulation"},"content":{"rendered":"<p><span style=\"color: #ff0000;\"><strong>LM<sup>3<\/sup>L<sup>T<\/sup> <\/strong><\/span>is a minimalist class written entirely in Matlab that simulates, with certain degree of physical realism, a Lego Mindstorms robot with its basic sensors and actuators:<\/p>\n<ul>\n<li>Two independent motors (left and right) with simulated first-order rotation speeds.<\/li>\n<li>Ultrasonic sensor with longitudinal noise of similar magnitude to the real one and also with the possibility of adding angular noise and beam thickness.<\/li>\n<li>Reflected light sensor with measurement noise and with modifiable area of measurement. Picture files (e.g., png) can be used as light map on the floor.<\/li>\n<li>Gyro sensor that mimics the behaviour (angle + velocity) of the EV3 gyro sensor.<\/li>\n<li>Collision detection with obstacles (walls).<\/li>\n<li>Physical parameters of the configuration (position of the sensors, radii of the wheels, etc.) can be defined at will.<\/li>\n<\/ul>\n<p>This class is intended to provide an alternative to the use of the real robot in engineering contexts, for instance in university courses. It has been used intensively in a Robotics undergraduate course starting from the academic year 2019\/2020 and in a Mobile Robotics master course starting in the academic year 2020\/2021 (both due to the COVID-19 pandemic).<\/p>\n<p>Its documentation is quite self-explanatory. A script skeleton is included in the downloadable.<\/p>\n<p>You can download the latest version of the library <a href=\"https:\/\/babel.isa.uma.es\/_utils\/downloads\/logdownloads.php?u=jafma&amp;t=zip&amp;f=downloads\/jafma\/docencia\/LMMML.zip\">here<\/a>.<\/p>\n<p><iframe loading=\"lazy\" width=\"1333\" height=\"1000\" src=\"https:\/\/www.youtube.com\/embed\/4BjwpnN0Or0?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe><\/p>\n","protected":false},"excerpt":{"rendered":"<p>LM3LT is a minimalist class written entirely in Matlab that simulates, with certain degree of physical realism, a Lego Mindstorms robot with its basic sensors and actuators: Two independent motors (left and right) with simulated first-order rotation speeds. Ultrasonic sensor with longitudinal noise of similar magnitude to the real one and also with the possibility [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":4,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3],"tags":[],"class_list":["post-705","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-software"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/posts\/705"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/comments?post=705"}],"version-history":[{"count":12,"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/posts\/705\/revisions"}],"predecessor-version":[{"id":859,"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/posts\/705\/revisions\/859"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/media\/4"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/media?parent=705"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/categories?post=705"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/jafma\/index.php\/wp-json\/wp\/v2\/tags?post=705"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}