結果:
This is my code
%send food and medicine in flood situation
% 1. create map
clc
clear
tic
map3D = occupancyMap3D; % create space for
[xGround,yGround,zGround] = meshgrid(0:240,0:350, 0); %set floor x=500 y=500
xyzGround = [xGround(:) yGround(:) zGround(:)]; %use for mergegrid
occval = 0;
setOccupancy(map3D,xyzGround,occval)
% xspace = 20 y = 45 create
[xB1, yB1, zB1] = meshgrid(50:130, 60:110, 0:20); %unionmall
[xB2, yB2, zB2] = meshgrid(80:250, 160:240, 0:30); %centralladprao
[xB3, yB3, zB3] = meshgrid(220:250, 290:340, 0:60); %centarahotel
[xB4, yB4, zB4] = meshgrid(0:30, 10:40, 0:80); %condo
[xB5, yB5, zB5] = meshgrid(150:170, 80:100, 0:10); %house1
[xB6, yB6, zB6] = meshgrid(180:200, 80:100, 0:10); %house2
[xB7, yB7, zB7] = meshgrid(210:230, 80:100, 0:10); %house3
[xB11, yB11, zB11] = meshgrid(240:270, 80:100, 0:10); %house7
[xB8, yB8, zB8] = meshgrid(150:170, 50:70, 0:10); %house4
[xB9, yB9, zB9] = meshgrid(180:200, 50:70, 0:10); %house5
[xB10, yB10, zB10] = meshgrid(210:230, 50:70, 0:10); %house6
[xB12, yB12, zB12] = meshgrid(240:270, 50:70, 0:10); %house8
[xB13, yB13, zB13] = meshgrid(200:260, 0:30, 0:13); %villageoffice
xyzB = [xB1(:), yB1(:), zB1(:);
xB2(:), yB2(:), zB2(:);
xB3(:), yB3(:), zB3(:);
xB4(:), yB4(:), zB4(:);
xB5(:), yB5(:), zB5(:);
xB6(:), yB6(:), zB6(:);
xB7(:), yB7(:), zB7(:);
xB8(:), yB8(:), zB8(:);
xB9(:), yB9(:), zB9(:);
xB10(:), yB10(:), zB10(:);
xB11(:), yB11(:), zB11(:);
xB12(:), yB12(:), zB12(:);
xB13(:), yB13(:), zB13(:);];
obs = 0.65; % ;=not show in command window
my3Dmap = map3D;
updateOccupancy(my3Dmap,xyzB,obs);
%show(my3Dmap);
% 2. distination
%my3Dmap.FreeThreshold = my3Dmap.OccupiedThreshold;
startPose = [50 60 25 pi/2;
250 310 65 pi/2;
100 170 35 pi/2;
100 30 85 pi/2;
155 90 15 pi/2;
250 60 15 pi/2;
160 60 15 pi/2
220 15 20 pi/2;];
goalPose = startPose;
ss = ExampleHelperUAVStateSpace("MaxRollAngle",pi/3,...
"AirSpeed",5,...
"FlightPathAngleLimit",[-0.5 0.5],...
"Bounds",[-10 400;-10 4000; -10 100; -pi pi]);
%threshold = [(goalPose-0.5)' (goalPose+0.5)'; -pi pi];
%setWorkspaceGoalRegion(ss,goalPose,threshold)
sv = validatorOccupancyMap3D(ss,"Map",my3Dmap);
sv.ValidationDistance = 0.5;
planner = plannerBiRRT(ss,sv);
planner.MaxConnectionDistance = 100;
%planner.GoalBias = 0.10;
%1,0.1,0.15,0.5,0.2,0.13,
planner.MaxIterations = 100000;
%planner.GoalReachedFcn = @(~,x,y)(norm(x(1:3)-y(1:3)) < 5);
planner.MaxNumTreeNodes = 10000;
numPose = length(startPose);
distances = zeros(numPose, numPose);
for i = 1:numPose
for j = 1:numPose
if i ~= j
rng(100, "twister");
start = [startPose(i,1), startPose(i,2), startPose(i,3), startPose(i,4)];
goal = [goalPose(j,1), goalPose(j,2), goalPose(j,3), goalPose(j,4)];
[pthObj, solnInfo] = plan(planner, start, goal);
smoothWaypointsObj = exampleHelperUAVPathSmoothing(ss, sv, pthObj);
distances(i, j) = pathLength(smoothWaypointsObj);
end
end
end
toc
and the error below
Hi, I have this equation for moment-axial force interaction: 0.25*(M/M0)^2 + (N/N0) = 1. This equation produces the following curve. Now, I need to make a change to this equation so that the first term becomes (M/M0)^2, and the second term can be changed while keeping (N/N0). The other side of the equation remains the same. ((M/M0)^2+?? = 1). I need to get the same curve as in the figure.
Hello everyone,
I am trying simulate a gas turbine system for my course on modelling and optimization of energy system. I have come out with a design consisting of a compressor, air preheater, combustion chamber and gas turbine. When I try to do the modelling in Simulink, I couldnt find something similar to combustion chamber. Does anyone have any experience in doing this?
Orginal Design:
I have also amended it and come out with second design, where I change to combustion chamber to a heater and the exhaust air is recycled back to air compressor, making it a closed loop system. But I am also unable to find heater from the simulink library, the closest i can get is convective heat transfer. Can someone help on this too and if the closed loop system is feasible to model?
Design 2 :
Hi everyone,
for my thesis project I would need to get, every second of the simulation, real-time output data from a Simulink model, without using Simulink Real-Time, as it supports only Speedgoat Hardware. Is there a particular set of blocks for that purpose?
I have to provide that real-time data to hardware for an Hardware in the Loop Simulation so I will need to be able also to receive, as an input, data from the hardware to the Simulink model, again every second of the simulation, to close the loop of the simulation.
Thank you in advance for your support.
Hi! I am using matlab inbuilt plot option( without typing code) to plot the data. This joins the data points using straight line by default. What will be the easiest way to plot if I want curve to join the points instead?
I keep getting this error message when trying to run my code, I'm confident my wiring is correct and I do not know what this error means-
Library 'Servo' is not uploaded to the board. Clear the current Arduino object and recreate it to include the appropriate library. For a list of available libraries, type 'listArduinoLibraries'.
here is my code
a=arduino();
s1 = servo(a, 'D9', 'MinPulseDuration', 700*10^-6, 'MaxPulseDuration', 2300*10^-6);
writePosition(s1,0);
userResponse = "yes";
while userResponse == "yes"
chicken = input("Insert your resistor");
voltage = readVoltage(a, "A0");
if voltage < 1.67155
resistor = "47k";
writePosition(s1,0.25);
minR = 47000 * 0.95;
maxR = 47000 * 1.05;
elseif voltage < 3.53128
resistor = "10k";
writePosition(s1,0.5);
minR = 10000 * 0.95;
maxR = 10000 * 1.05;
elseif voltage < 4.69941
resistor = "1k";
writePosition(s1,0.75);
minR = 1000 * 0.95;
maxR = 1000 * 1.05;
else
resistor = "330";
writePosition(s1,1);
minR = 330 * 0.95;
maxR = 330 * 1.05;
end
resistance = voltageToResistance(voltage);
withinTolerance = (resistance >= minR && resistance <= maxR);
disp(resistor)
if withinTolerance == 1
writeDigitalPin(a, "D4", 1);
writeDigitalPin(a, "D5", 0);
%disp("green")
else
writeDigitalPin(a, "D4", 0);
writeDigitalPin(a, "D5", 1);
%disp("Red")
end
userResponse = input("Would you like to check another resistor? ","s");
writePosition(s1,0);
writeDigitalPin(a, "D4", 0);
writeDigitalPin(a, "D5", 0);
end
How to Simulate a Synchronous Compensator in Simulink?
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Hello,
I have to draw root-locus for longitudinal motion; Short Period Mode and Phugoid Mode. Here is a code
%% Dynamics
Vp = 111.174
A_lon = [-0.0283 0.3139 -11.0665 -32.0344;
-0.4204 -1.5452 108.6931 -3.2616;
0.0205 -0.2011 -3.5080 0;
0 0 1 0]
B_lon = [0.0115 0.1150;
-0.2185 0;
-0.3591 0;
0 0]
C_lon = [1 0 0 0;
0 -1 0 Vp]
%% LQR Servo Design
A_servo = [A_lon zeros(4,2);
-C_lon zeros(2,2)]
B_servo = [B_lon ; zeros(2,2)]
n = 100; a = logspace(-2,2,n);
for i = 1:n
Q = a(i)*[1 0 0 0 0 0;
0 1 0 -Vp 0 0;
0 0 0 0 0 0;
0 -Vp 0 power(Vp,2) 0 0;
0 0 0 0 1 0;
0 0 0 0 0 1];
R = eye(2);
[K,S,P] = lqr(A_servo,B_servo,Q,R);
p_cl = P;
cl_sh(i,1) = p_cl(5); cl_sh(i,2) = p_cl(6);
cl_ph(i,1) = p_cl(3); cl_ph(i,2) = p_cl(4);
end
%% Plot
figure;
plot(real(cl_sh(:,1)), imag(cl_sh(:,1)), '+', real(cl_sh(:,2)), imag(cl_sh(:,2)), 'x', MarkerSize=5);
title("Root Locus of Short Period Mode")
xlabel("real")
ylabel("imag")
grid on;
figure;
plot(real(cl_ph(:,1)), imag(cl_ph(:,1)), '+', real(cl_ph(:,2)), imag(cl_ph(:,2)), 'x', MarkerSize=5)
title("Root Locus of Phugoid Mode")
xlabel("real")
ylabel("imag")
grid on;
When the code is executed, the sequence of eigenvalues is misaligned from some point in the iteration statement and the point was depended on weight of Q, R matrix. So when the sequence of eigenvalues is out of order from a certain point in time like this, how should we modify the code to solve it?
Hello everyone. I'm beginner at MATLAB and I have 12 lead ECG database for my project. I have to see and investigate ECG signal but I couldn't find how to do it. Does anyone know how to combine these 12 lead data and obtain a clear ECG?
Hi,
I am now to appbulding, however I'am trying to build a app with appdesigner, but I cant find out how to change baground color of tree subnode and how to change color of text in subnode.
Is it even possible in appdesigner or in Matlab?
Or can I somehow use html to do this?
Can you help me find the solution?
Thank you very much.
Hello,
What is the difference between a moving angle and a normal angle?
Compute the Rotation about Y-axis over moving angle a = 30°
then
rotation about X-axis of angle β= 45°
What will the code like?
Thank you
Hello everyone, I'm using Simulink for running simulations, and I'd like to call a trained machine learning model (in my case, a TreeBagger) in MATLAB to make predictions in Simulink. However, I'm having some trouble with it. Has anyone already worked with this?
Hello there, I have a Amesim Black box model in Simulink. On my desktop, it works well. Also i tried to run on other desktops. Most of them work well. But some of them gives following error: Error in 'Model' while executing C MEX S-function 'Model', (mdlInitializeConditions), at time 0.0. Caused by: in Simcenter Amesim mexfunction: 'Model', Simcenter Amesim fatal error Cannot initialize Simcenter Amesim Model. EXIT This is an urgent case for me. Could you please help me?
Thank you so much.
Write a matlab script that will print the odd numbers, 1 through 20, in reverse.
I cannot figure out how to do this correctly, please help.
Dear Community,
I am trying to perform PowerGUI Loadflow analysis for EV Charging station. The model converges but the load flow vaues on the DC bus is zero. Whether power_loadflow supports Mixed AC/DC load Flow.
Can someone help me by providing guidance on how to preform the same
Regards
Vara
when I build the model I get the name mismatch error for two calibratable signals . The signals are in the data dictionary , and I use them in the model by pulling from the dd with the same name . can anyone point me out what possibly cause this error?
Hi all,
The question is simple as the title says. How to consume messages from selected Kafka topic?
I have a setup which works perfectly from terminal and now I am trying to connect MATLAB with this Kafka topic, just to consume messages. I followed this:
but unfortunately there is no information how to consume messages. Any help will be appreciated!
How to write a script for single mpc controller to multiple sysytems? then plot the response in same graph and differentiate the system dynamics.The above figure for PID likewise for MPC anf commands or codes?
I'm plotting an error with respect to the number of points used.
Now there are three different ways to comput the error, and I always plot the maximal error.
If the maximum is for computation 1, I want the dot in the plot to be red, for computation 2 it should be blue, etc.
How can I achieve this? My data is in a n x 2 matrix
