Modelling a Double Pendulum in Simulink

One module I took during the final year of my degree was ‘System Modelling and Simulation’. A well taught and great module, one of the tasks was to model a double pendulum.

The approach involved deriving the equations of from the highest order of motion for each mass then working backwards through Simulink blocks to generate each term, which could then be to solve the equation – a bit of a chicken and egg problem! It was a an excellent task as the idea seems a little backwards at first and gave me a fresh approach to problem solving a model.

Below is the method extract from my report as the YouTube demo has generated some interest in the solution.

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Long-Range Coastal Autonomous Underwater Vehicle (AUV)

AUV with logo

The second semester of the third year of my Mechanical Engineering degree was a group design project. My group of six was tasked with the design of a coastal autonomous underwater vehicle (AUV). I was assigned design of the gliding sub-system (a long-range AUV it had to optimise energy use) and was also the business manager (as part of the project we were required to develop a business plan).

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FYP: MATLAB A* Based Path Planner for Autonomous Off-Road Vehicle

A picture says 1000 words

Synopsis

A new venture for the University of Bath and a collaboration with Mechanical and Electrical Engineering, the autonomous quad project aims to convert an ’off the shelf’ miniature quad bike to a driverless one. Generation of a least cost path to a pre-defined goal is required, which avoids known obstacles and will update for new obstacles detected during driving. The A* search algorithm is chosen and a comprehensive planner developed within MATLAB.
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