You can use the points of the object detector as reference signals for the colision

Hi Zahid Razzaq,

Even if you use the 'variable-size' output ports of the Object Detector as the reference signals for the input ports of fuzzy collision avoidance controller, you may still get the 'variable-size signal' error.

Even if you can configure the 'Mux/Demux' blocks to support the variable-size signals, I doubt that your designed 2-input FIS can handle the variable-size signal from the output port 1 of the Object Detector.

The variable-size signal means that the number of elements in the signal dimension can change during the simulation. Your 2-input FIS expects to receive two signals only. For more info, please refer to the following links:

https://www.mathworks.com/help/simulink/ug/simulink-models-using-variable-size-signals-demos-modeling-features-variable-size-signals-or-type-varsizedemos-.html

https://www.mathworks.com/help/simulink/ug/variable-size-signal-basics.html

Other possibility is to write a fuction that takes the values of the block during the simulation and used for any other propuse

Dear Prof. Erik Cuevas , I wrote down a S-function to take values from Object detection block but still gets same error

" Simulink cannot propagate the variable-size mode from the output port 1 of 'dynamicModelPID/Object Detector ".

as far as i understand this problem .

The error is caused by a function(function detections = stepImpl(obj,pose,objects) ) used in source code of block, this function ,

stepImpl :System output and state update equations

Running the object calculates the outputs and updates the object’s state values using the inputs, properties, and state update equations.

when there is no object, function returns Nan values that cannot be handled by demux, S-function and any other block. I have tried to make Nan to zeros so that it can be handled but in vain.