computing | university of worcester | |||||||||||
Comp 3352 Mini-Projects | ||||||||||||
DrC's Homepage Module Homepage |
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You are invited to spend the last Workshop sessions and additional Individual Study time to complete a Project in Modelling and Simulation. This work is worth 75% of the module grade. You can choose a project based on either UDK or Webots. You may use Octave to support your work. You are encouraged to work in informal groups, having conversations and helping out other folk working on the same project. Here is a list of who is available to collaborate. Individual project chat rooms are available on Blackbeard. If you feel you are struggling (perhaps with coding) then I suggest you attack either the Skymaster UDK project or the Braitenberg Webot project or the Truss Bridge project (labelled green). More challenging (and perhaps rewarding) projects are labelled blue. |
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SUMMARY OF WEBOTS PROJECTS | WEBOTS Micro-lectures and assets | |||||||||||
Quadruped | ||||||||||||
Hexapod | ||||||||||||
Salamander | ||||||||||||
Sojourner Mars Rover | ||||||||||||
Factory-Floor line-follower | ||||||||||||
Braitenberg Vehicles | ||||||||||||
ASSETS | ||||||||||||
SUMMARY OF UDK PROJECTS | UDK Micro-lectures and assets | |||||||||||
Skymaster | ||||||||||||
Wind Turbine | ||||||||||||
Truss Bridges | ||||||||||||
Energy Harvester (Magnetic) | ||||||||||||
Energy Harvester (Piezo-electric) | ||||||||||||
Segway | ||||||||||||
Robot PID line-follower | ||||||||||||
ASSETS | ||||||||||||
WEBOTS PROJECT DETAILS | ||||||||||||
Quadruped |
Here you will code a CPG to produce various quadruped gaits. Perfect for animal lovers. This is based on Workshop 5. |
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Notes and From Maths to Code | ||||||||||||
Ijspeert et al. journal article | ||||||||||||
Animal Gaits Movie Clip | ||||||||||||
Hexapod |
Here you will code a CPG to produce various hexapod gaits. Perfect if you do not suffer from arachnophobia This is based on Workshop 5. |
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Notes and From Maths to Code | ||||||||||||
Journal Article | ||||||||||||
Bugs Gaits Movie Clip | ||||||||||||
Salamander |
This follows on from the Salamander workshop (5). You will develop the salamander controller to make it adapt to moving on land or water; this includes sorting out the leg motion. |
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Movie Clip | ||||||||||||
Sojourner |
This is an 'open' project involving one of the earliest Martian rovers. It could be quite exciting; you could follow the Perseverance media reports and try to reproduce some of the technical information. The controller provided is the built-in Webots controller which you should enhance. As of 19-03-21 this is no longer available. |
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Factory-floor |
This is a line-following robot which you may have coded in Workshop 4 or on the Nature of Computing. You will build a controller which will navigate the robot through a warehouse to simulate the retrieval of items from several racks, according to a 'shopping list'. Think Amazon. |
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Braitenberg | These are two-wheeled differential-drive robots which are programmed with behaviour which can be described in terms from psychology, such as 'love' or 'aggression' or fear. The simplest vehicles have two eyes and two motors which are directly connected and respond to lamps in the world. As of 19-03-21 this is no longer available. | |||||||||||
Controller and World | ||||||||||||
Notes on Braitenberg Vehicles | ||||||||||||
Short Overview | ||||||||||||
Online Simulator | ||||||||||||
Link to Neuroscience Application | ||||||||||||
Applied to study of Ethical Robots (IEEE link) | ||||||||||||
UDK PROJECT DETAILS | ||||||||||||
Download these ASSETS | ||||||||||||
Open the level SciencePark_Level_Projects2021 unless you are doing the Truss Bridges project; here you must read the extra instructions below. | ||||||||||||
How to write your UDK Code | ||||||||||||
How to write your UDK Code (Micro-Lecture) | ||||||||||||
How to manage your Octave plots | ||||||||||||
UDK: Reference Variables Functions | ||||||||||||
The Skymaster (straightfoward) |
In this project you will write straightforward code to model and simulate this favourite fairground ride (check out Butlins - Minehead). While the code is straightforward, the behaviour of the Skymaster is very rich, and could yield a substantial investigation. |
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Notes on the Skymaster | ||||||||||||
From Maths to Code | ||||||||||||
Octave Resources | ||||||||||||
The Skymaster (advanced) |
Under appropriate conditions, the Skymaster can exhibit period-doubling bifurcations and chaos. You will code a realistic model and investigate this non-linear behaviour. This extends the work of Workshop 3. |
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Advanced notes on the Skymaster | ||||||||||||
From Maths to Code | ||||||||||||
Octave Resources | ||||||||||||
Period doubling bifurcation slides (Jen-Hao Yeh) | ||||||||||||
From Maths to Code (Advanced - Period doubling) | ||||||||||||
Wind Turbine Generator |
Here you will code a simulation of the most important source of renewable energy in the UK - wind power. The model will adjust the turbine behaviour to extract the maximum amount of energy as the wind speed changes. If there is time, you will be able to construct a wind farm. |
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Notes on the Wind Turbine | ||||||||||||
From Maths to Code | ||||||||||||
Intro Tutorial (Conference Paper) | ||||||||||||
Useful PPT presentation | ||||||||||||
Journal Article NREL 5MW Turbine | ||||||||||||
Journal Article | ||||||||||||
Octave Resources | ||||||||||||
Stuff | ||||||||||||
Robot PID-Control | Here you will code up a model of a robot body and also a simulation of line following using sensors and PID controls. This will draw upon the theory presented in Workshop 6. As of 19-03-21 this is no longer available. | |||||||||||
Notes on Differential Drive Robots | ||||||||||||
From Maths to Code | ||||||||||||
Octave Resources | ||||||||||||
Truss Bridges | Here you will design a Truss bridge (made up of a lattice of connected bars) and see how the bridge responds to loads. There is a small amount of coding involved. The bridge design is input as a txt file specifying the bridge structure and constraints. Your code will use this to build the bridge simulation and allow investigation. | |||||||||||
Notes and how to code | ||||||||||||
Magnetic Energy Harvester |
Here you will code and investigate a maglev energy harvester following recent research, and investigate how the non-linearity in the system can potentially enhance its performance in extracting energy from vibrating systems. This will draw on the work from Workshop 3. |
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Notes on the MagLev | ||||||||||||
From Maths to Code | ||||||||||||
Octave Resources | ||||||||||||
Journal Article | ||||||||||||
Journal Article | ||||||||||||
Review Article | ||||||||||||
Piezo-electric Energy Harvester | Piezo-electric energy harvesters are typically small devices which harvest small amounts of energy (micro-watts) from vibrating structures. As of 19-03-21 this is no longer available as a separate mini-project, but could be done as a carry-on from the Magnetic VEH. | |||||||||||
Notes on the Piezo VEH | ||||||||||||
From Maths to Code | ||||||||||||
Octave Resources | ||||||||||||
Journal Article | ||||||||||||
Review Article | ||||||||||||
Segway | There are some lovely YouTube clips of what happens when inexperienced folk jump onto a Segway. Here you will explore how a Segway stays upright (it is fundamentally unstable) and how to get it to move at a given speed. This draws on the work of Workshop 6. | |||||||||||
From Maths to Code | ||||||||||||
CBP Notes | ||||||||||||
Page Last Updated 15-03-21 by Dr.C | ||||||||||||