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Simulink for the NXT

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The new version of Simulink, the MATLAB-based modelling software by MathWorks, has a new feature that is particularly interesting for NXT builders: developing NXT robot programs and executing them autonomously on the NXT brick.

As the release's features site states:
"Students can use Simulink to create algorithms for control systems and robotics applications. They can apply industry-proven techniques for Model-Based Design to verify that their algorithms work during simulation. They can then implement the algorithms on LEGO MINDSTORMS NXT as standalone, real-time applications.
Students can download a program to the robot using a USB cable. Once programmed, these robots can run autonomously while students interact and monitor remotely using Bluetooth."
There are a lot of more details on said site, including an overview video.
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