QUARC 2019
These release notes describe the new features and changes introduced in QUARC 2019. They are divided into the sections enumerated below.
New Software Compatibility
QUARC 2019 has introduced compatibility with the following third-party software.
Compatibility with MATLAB, Simulink, and Simulink Coder R2019a has been added.
New Cards Supported
The full list of all the data acquisition cards supported by QUARC 2019 is given by the following link. QUARC 2019 may now also interface to the cards listed below.
Added support for the Quanser QBot 2e card.
New Devices Supported
QUARC 2019 may now interface to the devices listed below.
The Kinova 6-DOF JACO Gen2 robot, as a Quanser-customized version, is now supported as an open-architecture robot. The Kinova 6-DOF MICO Read block reads the Kinova 6-DOF MICO joint angular positions, speeds, currents, torques and states. Conversely, the Kinova 6-DOF MICO Write block sends joint and finger position commands and PID controller gains to the Kinova 6-DOF JACO robot. The Kinova 6-DOF MICO Torque Reset block performs reset on the Kinova 6-DOF JACO robot torque sensors. It is especially useful when the Kinvoa 6-DOF JACO robot torque sensors have lost their calibration during transport.
The Kinova 6-DOF MICO blocks may be found under the
MATLAB Command Line
Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:
qc_open_library('quarc_library/Devices/Third-Party/Kinova/Robots/6-DOF MICO')New Demonstrations
The QUARC demonstrations added in QUARC 2019 are listed below.
Continuous-Time Demonstrations
The QUARC Extended Kalman Filter Demo shows how to use non-linear state-space models and the extended Kalman filter as a non-linear model-based filter. The Nonlinear State Space block is used to simulate a pendulum with damping that is released at a 90 degree angle from vertical. The pendulum model produces a damped oscillation as a result.
New Blocks
New blocks have been added to the QUARC Targets library in QUARC 2019. The new blocks are listed below.
Continuous Blocks
The Extended Kalman Filter block is used to implement extended Kalman filters, which are non-linear filters for estimating the states of non-linear systems.
The Jacobian block is used to numerically calculate the Jacobian of a non-linear function, f(x,u), with respect to x.
The Nonlinear State-Space block is used to implement nonlinear state-space systems.
Devices Blocks
The Ranging Sensor block measures distance using a ranging sensor, such as a time-of-flight sensor or LIDAR.
Math Operations Blocks
The Quaternion Product Jacobian block computes the Jacobian of the quaternion product with respect to q1 or q2.
The Quaternion Rotate Jacobian block Computes the Jacobian of the quaternion rotation of q2 with respect to q1.
Signal Routing Blocks
The Replace Elements block replaces elements of its first input signal with elements from its second input. The elements replaced can be changed dynamically.
Improved Features
Some of the features improved in QUARC 2019 are enumerated below. There are a great many miscellaneous improvements that have not been listed. Only some of the highlights are listed below.
The Computation Time block now has the option of measuring CPU time instead of actual (wall clock) time. While CPU time may have lower resolution, it does not include the time spent blocking or being interrupted by higher priority processes or threads.
The Time block now has the option of measuring process or thread CPU time instead of actual (wall clock) time. While CPU time may have lower resolution, it does not include the time spent blocking or being interrupted by higher priority processes or threads.
Miscellaneous
The following shows the miscellaneous changes in QUARC 2019.
Internal version number for QUARC 2019 is 2.8.
The Beep block is now moved out of Beta and into the main QUARC library.
The Host Beep block is now moved out of Beta and into the main QUARC library.
The QUARC Linux DuoVero Target, QUARC Linux DuoVero 2016 Target, and QUARC Linux Verdex Target targets are considered legacy due to support for the devices running on those targets are no longer available. In general, no new functionalities will be provided for these targets.
Deprecated Features
| Some of the previous QUARC features have been deprecated in QUARC 2019, as mentioned below. Many of the deprecated features may continue to work, but are no longer supported and should be avoided. |
MATLAB Versions No Longer Supported
MATLAB R2017a is no longer supported.
MATLAB R2017b is no longer supported.
Compilers No Longer Supported
Microsoft Visual Studio 2012 is no longer supported.
Microsoft Windows SDK 7.1 is no longer supported.
Targets No Longer Supported
The QUARC Linux Verdex Target is no longer supported and now a legacy target.
The QUARC Linux DuoVero Target is no longer supported and now a legacy target.
The QUARC Linux DuoVero 2016 Target is no longer supported and now a legacy target.
Bug Fixes
Some of the bug fixes in QUARC 2019 are enumerated below. This list is not complete. Only some of the highlights are listed below.
Fix bug when using a static image as a value instead of a device for the video source.
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