The design of a navigation guidance and control system for an unmanned surface vehicle for environmental monitoring

Maintaining the ecosystem is one of the main concerns in this modern age. With the fear of ever-increasing global warming, the UK is one of the key players to participate actively in taking measures to slow down at least its phenomenal rate. As an ingredient to this process, the Springer vehicle was designed and developed for environmental monitoring and pollutant tracking. This special issue paper highlighted the Springer hardware and software architecture including various navigational sensors, a speed controller, and an environmental monitoring unit. In addition, details regarding the modelling of the vessel were outlined based mainly on experimental data. The formulation of a fault tolerant multi-sensor data fusion technique was also presented. Moreover, control strategy based on a linear quadratic Gaussian controller was developed and simulated on the Springer model.
Gaussian controller is developed and simulated on the Springer model.

An Autopilot Based on a Local Control Network Design for an Unmanned Surface Vehicle

Over recent years, a number of marine autopilots designed using linear techniques have underperformed owing to their inability to cope with nonlinear vessel dynamics. To this end, a new design framework for the development of nonlinear autopilots is proposed herein. Local control networks (LCNs) can be used in the design of nonlinear control systems. In this paper, a LCN approach is taken in the design of a nonlinear autopilot for controlling the nonlinear yaw dynamics of an unmanned surface vehicle known as Springer. It is considered the approach is the first of its kind to be used in marine control systems design. Simulation results are presented and the performance of the nonlinear autopilot is compared with that of an existing Springer linear quadratic Gaussian (LQG) autopilot using standard system performance criteria. From the results it can be concluded the LCN autopilot out performed that based on LQG techniques in terms of the selected criteria. Also it provided more energy saving control strategies and would thereby increase operational duration times for the vehicle during real-time missions.

QCA Systolic array design

Quantum-dot Cellular Automata (QCA) technology is a promising potential alternative to CMOS technology. To explore the characteristics of QCA and suitable design methodologies, digital circuit design approaches have been investigated. Due to the inherent wire delay in QCA, pipelined architectures appear to be a particularly suitable design technique. Also, because of the pipeline nature of QCA technology, it is not suitable for complicated control system design. Systolic arrays take advantage of pipelining, parallelism and simple local control. Therefore, an investigation into these architectures in QCA technology is provided in this paper. Two case studies, (a matrix multiplier and a Galois Field multiplier) are designed and analyzed based on both multilayer and coplanar crossings. The performance of these two types of interconnections are compared and it is found that even though coplanar crossings are currently more practical, they tend to occupy a larger design area and incur slightly more delay. A general semi-conductor QCA systolic array design methodology is also proposed. It is found that by applying a systolic array structure in QCA design, significant benefits can be achieved particularly with large systolic arrays, even more so than when applied in CMOS-based technology.