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Some ideas for mini-projects which can be done semi-independently
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Handle degeneracy correctly in LinearStateUpdater
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Reducing systems of equations to standard form
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Given a system of equations of a form like the following:
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a * d2x/dt2 + b * d2y/dt2 = c
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d * d2x/dt2 + e * d2y/dt2 = f
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Write a module using Sympy to simplify to a system of first order ODEs. Note
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that Sympy doesn't support the d2x/dt2 syntax, for example, so you would
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need to do some pattern matching and replacement preprocessing beforehand,
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e.g. replace 'dNX/dtN' with a fixed symbol, say _diff_N_X and have a lookup
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table that matches symbols _diff_N_X to the original pattern 'dNX/dtN' and to
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the pair (N, X) identifying the equation and order of the differential. With
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these symbols, the equations could be solved using Sympy, and then reduced by
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introducing auxiliary variables.