QUARC 2020 SP2
These release notes describe the new features and changes introduced in QUARC 2020 SP2. They are divided into the sections enumerated below.
New Software Compatibility
QUARC 2020 SP2 has introduced compatibility with the following third-party software.
Compatibility with MATLAB, Simulink, and Simulink Coder R2020b has been added.
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A recent Microsoft Windows 10 update broke certain timers in Windows. Two problems were introduced: much slower timing
and timer drift. The most obvious symptom is that QUARC models end up running no faster than 15 ms even when the sampling
period is configured to be faster. This QUARC version resolves these issues by switching to alternate timer technology on
affected systems. Systems are evaluated during QUARC installation. If a Windows 10 update breaks the timer after
installation of QUARC, run the |
New Demonstrations
The examples added in QUARC 2020 SP2 are listed below.
Multimedia Examples
The audio_capture_example shows how to use the Quanser Multimedia C API to capture audio from a microphone.
The audio_render_example shows how to use the Quanser Multimedia C API to render audio to a speaker.
The video_capture_example shows how to use the Quanser Multimedia C API to capture video from a camera.
The video3d_capture_example shows how to use the Quanser Multimedia C API to capture multiple video streams from an RGBD camera.
New Blocks
New blocks have been added to the QUARC Targets library in QUARC 2020 SP2. The new blocks are listed below.
Advanced Blocks
The Target Information block retrieves information about the QUARC target that is connected via Target Connect block.
Multimedia Blocks
The Video Simulation block simulates an RGB camera, which can then be used by the Video Capture block.
Sources Blocks
The Target Type block returns the target type on which the model is running.
Improved Features
Some of the features improved in QUARC 2020 SP2 are enumerated below. There are a great many miscellaneous improvements that have not been listed. Only some of the highlights are listed below.
A new Synchronize buffer overflow mode was added to the HIL Read Timebase blocks that enables better synchronization with the model simulating the HIL board (containing the HIL Simulation block).
The HIL Simulation block now supports better synchronization with the client model using the simulated board, via the new Synchronize buffer overflow mode of the HIL Read Timebase blocks. Also added the ability to set the initial values of the simulation outputs.
More of the image filtering algorithms and transforms have been optimized, resulting in significant performance improvements.
The Image Optical Flow block has been enhanced by adding support for a global optical flow algorithm, which outputs a single 2-DOF velocity estimate based on changes in the input image over time.
The Quanser QArm device is now fully supported on the Raspberry Pi 3 target.
Support for multiple Quanser QArm connected to the target has been added.
Added various read-only properties that can be retrieved via HIL Get Property block that provide more information about the QArm.
Increased gripper motor's maximum position limit to allow for contact at the ends when fully closed.
Support for the VL53L0X time-of-flight sensor has been added to the Ranging Sensor block.
Significant performance/responsiveness improvement when using Simulink user interface.
The one-click and step-by-step RUN ON HARDWARE buttons on the Simulink Toolstrip's HARDWARE tab have been greatly improved.
Added an optional Show if camera is in use output to the Video Simulation block.
Improved the frame rate for RGBD cameras simulated using the Video3D Simulation block. Also added an optional Show if camera is in use output for detecting whether the simulated camera is currently being used by a client model.
Bug Fixes
Some of the bug fixes in QUARC 2020 SP2 are enumerated below. This list is not complete. Only some of the highlights are listed below.
Resolve the issue where model compilation would failed for the Verdex and Overo targets.
Fixed a bug in the HIL Initialize block which was causing an error on model termination in normal simulation.
Fixed a bug in the HIL Simulation block's handling of card-specific options.
Fixed a bug in the Host Game Controller block in which the second slider was not working.
Fixed a bug in the Quanser QArm block that caused the joints to move to unexpected positions when entering a goal value that is beyond the position limits.
Fixed a bug in the Video Simulation block which caused it to crash in normal simulation.
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