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‎Libraries/quadcopter_library.slx‎

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‎Models/quadcopter_package_delivery.slx‎

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‎Models/quadcopter_path_test_interp.slx‎

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‎Overview/html/quadcopter_package_delivery.html‎

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@@ -7,9 +7,9 @@
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To make changes, update the MATLAB code and republish this document.
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-->
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<title>Quadcopter Package Delivery</title>
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<meta name="generator" content="MATLAB 24.2">
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<meta name="generator" content="MATLAB 25.1">
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<link rel="schema.DC" href="http://purl.org/dc/elements/1.1/">
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<meta name="DC.date" content="2024-09-13">
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<meta name="DC.date" content="2025-11-29">
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<meta name="DC.source" content="quadcopter_package_delivery.m">
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<style type="text/css">
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html,body,div,span,applet,object,iframe,h1,h2,h3,h4,h5,h6,p,blockquote,pre,a,abbr,acronym,address,big,cite,code,del,dfn,em,font,img,ins,kbd,q,s,samp,small,strike,strong,tt,var,b,u,i,center,dl,dt,dd,ol,ul,li,fieldset,form,label,legend,table,caption,tbody,tfoot,thead,tr,th,td{margin:0;padding:0;border:0;outline:0;font-size:100%;vertical-align:baseline;background:transparent}body{line-height:1}ol,ul{list-style:none}blockquote,q{quotes:none}blockquote:before,blockquote:after,q:before,q:after{content:'';content:none}:focus{outine:0}ins{text-decoration:none}del{text-decoration:line-through}table{border-collapse:collapse;border-spacing:0}
@@ -130,82 +130,81 @@ <h2 id="3">Quadcopter Subsystem</h2>
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<img vspace="5" hspace="5" src="quadcopter_package_delivery_10.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_11.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_12.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_13.png" alt=""> <h2 id="10">Simulation Results from Simscape Logging: Path 4 with Wind</h2>
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<img vspace="5" hspace="5" src="quadcopter_package_delivery_14.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_15.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_16.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_17.png" alt=""> <h2 id="11">Parameter Sweep: Package Mass</h2>
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<p>Using parallel computing we vary the mass of the package to see its effect on the quadcopter trajectory.</p>
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<pre class="codeoutput">Elapsed Simulation Time Single Run: 18.2268
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[13-Sep-2024 00:45:10] Checking for availability of parallel pool...
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<pre class="codeoutput">Elapsed Simulation Time Single Run: 26.3536
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[29-Nov-2025 06:24:48] Checking for availability of parallel pool...
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Starting parallel pool (parpool) using the 'Processes' profile ...
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Connected to parallel pool with 6 workers.
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[13-Sep-2024 00:45:35] Starting Simulink on parallel workers...
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[13-Sep-2024 00:45:40] Configuring simulation cache folder on parallel workers...
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[13-Sep-2024 00:45:41] Transferring base workspace variables used in the model to parallel workers...
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[13-Sep-2024 00:45:41] Total size of base workspace variables to send to parallel workers is 6.24 MB.
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[13-Sep-2024 00:45:42] Loading model on parallel workers...
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[13-Sep-2024 00:46:01] Running simulations...
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[13-Sep-2024 00:47:16] Completed 1 of 12 simulation runs
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[13-Sep-2024 00:47:16] Received simulation output (size: 7.68 MB) for run 1 from parallel worker.
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[13-Sep-2024 00:47:17] Completed 2 of 12 simulation runs
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[13-Sep-2024 00:47:17] Received simulation output (size: 7.73 MB) for run 2 from parallel worker.
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[13-Sep-2024 00:47:17] Completed 3 of 12 simulation runs
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[13-Sep-2024 00:47:17] Received simulation output (size: 7.79 MB) for run 3 from parallel worker.
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[13-Sep-2024 00:47:19] Completed 4 of 12 simulation runs
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[13-Sep-2024 00:47:19] Received simulation output (size: 7.83 MB) for run 5 from parallel worker.
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[13-Sep-2024 00:47:20] Completed 5 of 12 simulation runs
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[13-Sep-2024 00:47:20] Received simulation output (size: 7.98 MB) for run 6 from parallel worker.
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[13-Sep-2024 00:47:25] Completed 6 of 12 simulation runs
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[13-Sep-2024 00:47:25] Received simulation output (size: 10.00 MB) for run 4 from parallel worker.
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[13-Sep-2024 00:47:32] Completed 7 of 12 simulation runs
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[13-Sep-2024 00:47:32] Received simulation output (size: 7.95 MB) for run 7 from parallel worker.
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[13-Sep-2024 00:47:32] Completed 8 of 12 simulation runs
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[13-Sep-2024 00:47:32] Received simulation output (size: 8.14 MB) for run 8 from parallel worker.
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[13-Sep-2024 00:47:32] Completed 9 of 12 simulation runs
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[13-Sep-2024 00:47:32] Received simulation output (size: 6.29 MB) for run 12 from parallel worker.
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[13-Sep-2024 00:47:34] Completed 10 of 12 simulation runs
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[13-Sep-2024 00:47:34] Received simulation output (size: 8.19 MB) for run 9 from parallel worker.
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[13-Sep-2024 00:47:34] Completed 11 of 12 simulation runs
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[13-Sep-2024 00:47:34] Received simulation output (size: 8.44 MB) for run 10 from parallel worker.
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[13-Sep-2024 00:47:40] Completed 12 of 12 simulation runs
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[13-Sep-2024 00:47:40] Received simulation output (size: 12.47 MB) for run 11 from parallel worker.
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[13-Sep-2024 00:47:40] Cleaning up parallel workers...
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Elapsed Sweep Time Total: 91.00
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Elapsed Sweep Time/(Num Tests): 7.58
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[29-Nov-2025 06:25:21] Starting Simulink on parallel workers...
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[29-Nov-2025 06:25:28] Configuring simulation cache folder on parallel workers...
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[29-Nov-2025 06:25:28] Transferring base workspace variables used in the model to parallel workers...
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[29-Nov-2025 06:25:28] Total size of base workspace variables to send to parallel workers is 5.13 MB.
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[29-Nov-2025 06:25:29] Loading model on parallel workers...
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[29-Nov-2025 06:26:00] Running simulations...
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[29-Nov-2025 06:27:00] Completed 1 of 12 simulation runs
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[29-Nov-2025 06:27:01] Received simulation output (size: 7.68 MB) for run 1 from parallel worker.
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[29-Nov-2025 06:27:02] Completed 2 of 12 simulation runs
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[29-Nov-2025 06:27:02] Received simulation output (size: 7.79 MB) for run 3 from parallel worker.
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[29-Nov-2025 06:27:03] Completed 3 of 12 simulation runs
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[29-Nov-2025 06:27:03] Received simulation output (size: 7.73 MB) for run 2 from parallel worker.
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[29-Nov-2025 06:27:06] Completed 4 of 12 simulation runs
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[29-Nov-2025 06:27:06] Received simulation output (size: 7.83 MB) for run 5 from parallel worker.
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[29-Nov-2025 06:27:07] Completed 5 of 12 simulation runs
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[29-Nov-2025 06:27:07] Received simulation output (size: 7.98 MB) for run 6 from parallel worker.
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[29-Nov-2025 06:27:12] Completed 6 of 12 simulation runs
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[29-Nov-2025 06:27:12] Received simulation output (size: 10.00 MB) for run 4 from parallel worker.
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[29-Nov-2025 06:27:16] Completed 7 of 12 simulation runs
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[29-Nov-2025 06:27:16] Received simulation output (size: 7.95 MB) for run 7 from parallel worker.
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[29-Nov-2025 06:27:17] Completed 8 of 12 simulation runs
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[29-Nov-2025 06:27:17] Received simulation output (size: 8.14 MB) for run 8 from parallel worker.
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[29-Nov-2025 06:27:18] Completed 9 of 12 simulation runs
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[29-Nov-2025 06:27:18] Received simulation output (size: 8.19 MB) for run 9 from parallel worker.
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[29-Nov-2025 06:27:19] Completed 10 of 12 simulation runs
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[29-Nov-2025 06:27:19] Received simulation output (size: 6.29 MB) for run 12 from parallel worker.
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[29-Nov-2025 06:27:21] Completed 11 of 12 simulation runs
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[29-Nov-2025 06:27:21] Received simulation output (size: 8.44 MB) for run 10 from parallel worker.
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[29-Nov-2025 06:27:26] Completed 12 of 12 simulation runs
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[29-Nov-2025 06:27:26] Received simulation output (size: 12.41 MB) for run 11 from parallel worker.
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[29-Nov-2025 06:27:26] Cleaning up parallel workers...
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Elapsed Sweep Time Total: 77.00
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Elapsed Sweep Time/(Num Tests): 6.42
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Parallel pool using the 'Processes' profile is shutting down.
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</pre>
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<img vspace="5" hspace="5" src="quadcopter_package_delivery_18.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_19.png" alt=""> <h2 id="12">Parameter Sweep: Trajectory Speed</h2>
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<p>Using parallel computing we vary the target speed of the quadcopter and see if the quadcopter can follow the target path.</p>
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<pre class="codeoutput">Elapsed Simulation Time Single Run: 38.4391
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[13-Sep-2024 00:48:47] Checking for availability of parallel pool...
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<pre class="codeoutput">Elapsed Simulation Time Single Run: 48.1442
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[29-Nov-2025 06:28:50] Checking for availability of parallel pool...
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Starting parallel pool (parpool) using the 'Processes' profile ...
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Connected to parallel pool with 6 workers.
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[13-Sep-2024 00:49:08] Starting Simulink on parallel workers...
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[13-Sep-2024 00:49:14] Configuring simulation cache folder on parallel workers...
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[13-Sep-2024 00:49:14] Transferring base workspace variables used in the model to parallel workers...
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[13-Sep-2024 00:49:14] Total size of base workspace variables to send to parallel workers is 106.85 MB.
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[13-Sep-2024 00:49:16] Loading model on parallel workers...
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[13-Sep-2024 00:49:37] Running simulations...
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[13-Sep-2024 00:50:58] Completed 1 of 8 simulation runs
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[13-Sep-2024 00:50:58] Received simulation output (size: 6.96 MB) for run 6 from parallel worker.
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[13-Sep-2024 00:51:02] Completed 2 of 8 simulation runs
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[13-Sep-2024 00:51:03] Received simulation output (size: 8.45 MB) for run 4 from parallel worker.
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[13-Sep-2024 00:51:03] Completed 3 of 8 simulation runs
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[13-Sep-2024 00:51:03] Received simulation output (size: 8.45 MB) for run 2 from parallel worker.
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[13-Sep-2024 00:51:03] Completed 4 of 8 simulation runs
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[13-Sep-2024 00:51:03] Received simulation output (size: 8.90 MB) for run 3 from parallel worker.
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[13-Sep-2024 00:51:03] Completed 5 of 8 simulation runs
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[13-Sep-2024 00:51:04] Received simulation output (size: 8.57 MB) for run 5 from parallel worker.
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[13-Sep-2024 00:51:04] Completed 6 of 8 simulation runs
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[13-Sep-2024 00:51:04] Received simulation output (size: 9.28 MB) for run 1 from parallel worker.
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[13-Sep-2024 00:51:14] Completed 7 of 8 simulation runs
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[13-Sep-2024 00:51:14] Received simulation output (size: 7.36 MB) for run 7 from parallel worker.
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[13-Sep-2024 00:51:16] Completed 8 of 8 simulation runs
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[13-Sep-2024 00:51:16] Received simulation output (size: 7.58 MB) for run 8 from parallel worker.
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[13-Sep-2024 00:51:16] Cleaning up parallel workers...
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Elapsed Sweep Time Total: 99.00
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Elapsed Sweep Time/(Num Tests): 12.38
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[29-Nov-2025 06:29:14] Starting Simulink on parallel workers...
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[29-Nov-2025 06:29:21] Configuring simulation cache folder on parallel workers...
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[29-Nov-2025 06:29:21] Transferring base workspace variables used in the model to parallel workers...
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[29-Nov-2025 06:29:21] Total size of base workspace variables to send to parallel workers is 105.67 MB.
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[29-Nov-2025 06:29:22] Loading model on parallel workers...
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[29-Nov-2025 06:29:45] Running simulations...
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[29-Nov-2025 06:30:53] Completed 1 of 8 simulation runs
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[29-Nov-2025 06:30:53] Received simulation output (size: 6.96 MB) for run 6 from parallel worker.
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[29-Nov-2025 06:30:56] Completed 2 of 8 simulation runs
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[29-Nov-2025 06:30:56] Received simulation output (size: 8.90 MB) for run 3 from parallel worker.
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[29-Nov-2025 06:30:56] Completed 3 of 8 simulation runs
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[29-Nov-2025 06:30:56] Received simulation output (size: 8.45 MB) for run 2 from parallel worker.
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[29-Nov-2025 06:30:56] Completed 4 of 8 simulation runs
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[29-Nov-2025 06:30:56] Received simulation output (size: 9.28 MB) for run 1 from parallel worker.
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[29-Nov-2025 06:30:56] Completed 5 of 8 simulation runs
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[29-Nov-2025 06:30:56] Received simulation output (size: 8.45 MB) for run 4 from parallel worker.
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[29-Nov-2025 06:30:57] Completed 6 of 8 simulation runs
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[29-Nov-2025 06:30:57] Received simulation output (size: 8.57 MB) for run 5 from parallel worker.
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[29-Nov-2025 06:31:09] Completed 7 of 8 simulation runs
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[29-Nov-2025 06:31:09] Received simulation output (size: 7.36 MB) for run 7 from parallel worker.
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[29-Nov-2025 06:31:10] Completed 8 of 8 simulation runs
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[29-Nov-2025 06:31:10] Received simulation output (size: 7.58 MB) for run 8 from parallel worker.
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[29-Nov-2025 06:31:10] Cleaning up parallel workers...
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Elapsed Sweep Time Total: 84.00
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Elapsed Sweep Time/(Num Tests): 10.50
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Parallel pool using the 'Processes' profile is shutting down.
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</pre>
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<img vspace="5" hspace="5" src="quadcopter_package_delivery_20.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_21.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_22.png" alt=""> <h2 id="13">Simulation Results from Simscape Logging: Path 5, 6</h2>
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<img vspace="5" hspace="5" src="quadcopter_package_delivery_23.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_24.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_25.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_26.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_27.png" alt=""> <p class="footer">Copyright 2022-2024 The MathWorks, Inc.<br>
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<a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2024b</a>
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<img vspace="5" hspace="5" src="quadcopter_package_delivery_23.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_24.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_25.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_26.png" alt=""> <img vspace="5" hspace="5" src="quadcopter_package_delivery_27.png" alt=""> <p class="footer">Copyright 2022-2025 The MathWorks, Inc.<br>
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<a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2025a</a>
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<br>
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</p>
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</div>
@@ -220,7 +219,7 @@ <h2 id="3">Quadcopter Subsystem</h2>
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% is released from the quadcopter when it reaches the final waypoint and
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% the release criteria are met.
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%
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% Copyright 2022-2024 The MathWorks, Inc.
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% Copyright 2022-2025 The MathWorks, Inc.
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open_system('quadcopter_package_delivery')
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set_param(find_system(bdroot,'MatchFilter',@Simulink.match.allVariants,'FindAll','on','type','annotation','Tag','ModelFeatures'),'Interpreter','off');
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set(0, 'DefaultFigureWindowStyle', 'normal');
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%%
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%
@@ -284,12 +284,17 @@ <h2 id="3">Quadcopter Subsystem</h2>
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% effect on the quadcopter trajectory.
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quadcopter_package_delivery_sweep_load_mass
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close(h1_waypoints_and_spline_xyz)
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close(h1_trajectory_speed_yaw)
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%% Parameter Sweep: Trajectory Speed
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% Using parallel computing we vary the target speed of the quadcopter and
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% see if the quadcopter can follow the target path.
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quadcopter_package_delivery_sweep_load_speed
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close(h4_quadcopter_package_delivery_pct_mass)
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close(h5_quadcopter_package_delivery_pct_mass)
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%% Simulation Results from Simscape Logging: Path 5, 6
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‎Overview/html/quadcopter_package_delivery.png‎

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‎Overview/html/quadcopter_package_delivery_01.png‎

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‎Overview/html/quadcopter_package_delivery_02.png‎

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‎Overview/html/quadcopter_package_delivery_03.png‎

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‎Overview/html/quadcopter_package_delivery_04.png‎

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‎Overview/html/quadcopter_package_delivery_05.png‎

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