Euan McGookin

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Dr Euan McGookin graduated from the University of Glasgow with a 1st Class Honours Master of Engineering in Avionics. His interest in marine control systems began with his MEng project which was researched at the Norwegian University of Science and Technology (NUST), Trondheim in 1993 (thesis title: "Sliding Mode Control of a Submarine"). This area of research continued during my Ph.D. studies which were completed in 1997 (thesis title: "Optimisation of Sliding Mode Controllers for Marine Applications: A study of methods and implementation issues"). This involved investigating the design, simulation and implementation of full authority control systems for various marine vessels including oil tankers and submarines.

After attaining his Ph.D. Euan worked as a propulsion technologist for the Defence Evaluation and Research Agency (DERA) in the UK. During this period of employment he worked on projects in the field of Gas Turbine Engine control and health monitoring.

Euan returned to academia as a lecturer in the Department of Electronics and Electrical Engineering and afterwards was promoted to senior lecturer in aerospace and robotic systems in the Department of Aerospace Engineering. In addition, he is the Head of Teaching Discipline for Electronics and Electrical Engineering. He is a member of the IFAC Technical Committee on Marine Systems

Euan McGookin’s main research interest is the design, simulation, control and construction of autonomous robotic systems e.g. Autonomous Underwater Vehicles, Unmanned Aerial Vehicles, Rovers. Particular area of expertise is in biomimetic systems, which involves the design of robotic systems using biologically inspired principles.

Other research involves the design of control systems for guidance and navigation of autonomous and semi-autonomous systems. Euan is skilled in controller design using a number of different control methodologies e.g. Sliding Mode Control, H-infinity, Inverse Model Control. In addition, he has extensive expertise in optimisation routines for the design of control and guidance systems.

Another area of expertise involves automation and health monitoring. Both aspects ensure that systems can operate autonomously and accommodate faults within elements of the system safely. This work applies to both industrial processes and vehicle systems.

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Conference Publications 2000-present by Euan McGookin

Evolution of a Strategy for Ship Guidance Using Two Implementations of Genetic Programming

by David Murray-Smith and Euan McGookin

Abstract: In this paper the implementation of Genetic Programming (GP) to optimise a controller s... more Abstract: In this paper the implementation of Genetic Programming (GP) to optimise a controller structure for a supply ship is assessed. GP is used to evolve control strategies for manoeuvring the ship. The optimised controllers are evaluated through computer simulations and real manoeuvrability tests in a water basin laboratory. In order to deal with the issue of generation of numerical constants, two kinds of GP algorithms are implemented. The first one chooses the constants necessary to create the control structure by random generation. The second algorithm includes a Genetic Algorithm (GA) for the optimisation of such constants. The results obtained illustrate the benefits of using GP to optimise propulsion and navigation controllers for ships.

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Development of a multi-rate simulation model of an underwater vehicle for real-time applications

by David Murray-Smith and Euan McGookin

Abstract: This paper describes work involving the further development and refinement of a mathema... more Abstract: This paper describes work involving the further development and refinement of a mathematical model of an unmanned underwater vehicle (UUV), together with the development of an associated real-time multi-rate simulation that includes both high-speed power electronic sub-systems and slower components. The chosen vehicle uses a battery as its energy source and this feeds an ac motor drive through a dc to ac converter. The drive powers the vessel which is modelled as a six-degree of freedom vehicle with control surfaces. tests carried out indicate that a careful choice of frame times can increase the speed of solution by factors of several hundred over solution times when the shortest frame rate is used throughout. These multi-rate solutions were executed faster than real time on a typical lap-top even when using 3-D graphical output for visualisation of vehicle motion. The conclusions of the paper are that the modelling and simulation of the UUV has provided a useful test-bed for ideas on multi-rate simulation and has demonstrated that multi-rate real-time simulation is feasible and useful for an application of this kind that includes very fast power electronic subsystems and relatively slow systems such as the vehicle and battery.

Application of inverse simulation to a nonlinear model of an underwater vehicle

by David Murray-Smith and Euan McGookin

Abstract: Inverse simulation provides an important alternative to conventional simulation and to ... more Abstract: Inverse simulation provides an important alternative to conventional simulation and to more formal mathematical techniques of model inversion. The application of inverse simulation methods to a nonlinear dynamic model of an unmanned underwater vehicle with actuator limits is found to give rise to a number of challenging problems. It is shown that this particular problem requires, in common with other applications that include hard nonlinearities in the model or discontinuities in the required trajectory, can best be approached using a search-based optimization algorithm for inverse simulation in place of the more conventional Newton- Raphson approach. Results show that meaningful inverse simulation results can be obtained but that multi-solution responses exist. Although the inverse solutions are not unique they are shown to generate the required trajectories when tested using conventional forward simulation methods.

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Papers by Euan McGookin

Design and Implementation of a Control System for a Tunneling Robot

2019 IEEE SmartWorld, Ubiquitous Intelligence & Computing, Advanced & Trusted Computing, Scalable Computing & Communications, Cloud & Big Data Computing, Internet of People and Smart City Innovation (SmartWorld/SCALCOM/UIC/ATC/CBDCom/IOP/SCI)

The development of a tunneling robot for trenchless drilling has many different design aspects. S... more The development of a tunneling robot for trenchless drilling has many different design aspects. Suitable hardware requires to be developed that can withstand the torques and forces that are generated by the drilling of the tunnel. A suitable route requires to be plotted that considers the maneuverability of the robot and avoids any obstacles or existing infrastructure. The control of such a system requires to be implemented in such a way that the system can follow the desired route while maintaining the required drill speed and avoid becoming stuck within the tunnel created.

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A Comparison of Forward and Inverse Simulation Methods for Fault Detection on a Rover

2022 8th International Conference on Control, Decision and Information Technologies (CoDIT)

Modeling and Simulation of a Biomimetic Underwater Vehicle

This paper describes work carried out at the University of Glasgow investigating biomimetic fish-... more This paper describes work carried out at the University of Glasgow investigating biomimetic fish-like propulsion systems for underwater vehicles. The development of a simple mathematical model is described for a biomimetic fish like vehicle which utilizes a tendon drive propulsion system. This model is then compared with a model of a vehicle of similar size but with a propeller for main propulsion. Simulation results for both models are shown and compared.

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Implementation of FMEA in the Development of Actuator and Sensor Fault Models for a Rover Health Monitoring Simulation

2022 UKACC 13th International Conference on Control (CONTROL)

A Comparison Of Inverse Simulation-Based Fault Detection In A Simple Robotic Rover With A Traditional Model-Based Method

Robotic rovers which are designed to work in extra-terrestrial environments present a u... more Robotic rovers which are designed to work in extra-terrestrial environments present a unique challenge in terms of the reliability and availability of systems throughout the mission. Should some fault occur, with the nearest human potentially millions of kilometres away, detection and identification of the fault must be performed solely by the robot and its subsystems. Faults in the system sensors are relatively straightforward to detect, through the residuals produced by comparison of the system output with that of a simple model. However, faults in the input, that is, the actuators of the system, are harder to detect. A step change in the input signal, caused potentially by the loss of an actuator, can propagate through the system, resulting in complex residuals in multiple outputs. These residuals can be difficult to isolate or distinguish from residua...

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Numerical Efficiency of Inverse Simulation Methods applied to a Wheeled Rover

Linköping Electronic Conference Proceedings, 2018

A control method based on Inverse Simulation is applied to a four wheel rover. The method calcula... more A control method based on Inverse Simulation is applied to a four wheel rover. The method calculates the required inputs to achieve a desired, specified response; a trajectory in this case. Inverse Simulation considers the complete system dynamics to calculate the control input using an iterative, numerical Newton -Raphson scheme. Two methods for applying Inverse Simulation are presented, one based on a Differentiation scheme and one on Integration. The paper provides an insight into how the scheme formulation and selected parameters affect both methods' performance when applied to a rover. The selection of system outputs to control, their effect on each scheme's Jacobian, whether it is square or over-determined and the best method to factorize this Jacobian are investigated. The influence of the discretisation step and the convergence tolerance is also examined using two different sets for both schemes and in conjunction with the type of Jacobian used. The comparison is made in terms of the resulting trajectory, the execution time, and the quality of the calculated control input.

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FDIR for a Biologically Inspired Trenchless Drilling Device

2018 UKACC 12th International Conference on Control (CONTROL), 2018

Failure Detection, Isolation and Recovery (FDIR) of autonomous systems working in hazardous condi... more Failure Detection, Isolation and Recovery (FDIR) of autonomous systems working in hazardous conditions is essential. Methods of detection and recovery without intervention are required. This work describes the failure modes currently identified with an autonomous biologically inspired trenchless drilling robotic system. Inverse Simulation is used for detecting failures and is demonstrated on a simulation model of the robotic system. Results from the experiments, show that Inverse Simulation can be used to detect and identify system failures.

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Modelling and Control of a Biologically Inspired Trenchless Drilling Device

2018 UKACC 12th International Conference on Control (CONTROL), 2018

This work presents the methods used and initial findings of the control of the model for an auton... more This work presents the methods used and initial findings of the control of the model for an autonomous trenchless drilling device, with bioinspired worm-like locomotion. The model is validated using Inverse Simulation. The initial control is detailed with data from the simulation and experimental device.

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Inverse Simulation as a Tool for Fault Detection and Isolation in Planetary Rovers

With manned expeditions to planetary bodies beyond our own and the Moon currently intractable, th... more With manned expeditions to planetary bodies beyond our own and the Moon currently intractable, the onus falls upon robotic systems to explore and analyse extraterrestrial environments such as Mars. These systems typically take the form of wheeled rovers, designed to navigate the difficult terrain of other worlds. Rovers have been used in this role since Lunokhod 1 landed on the Moon in 1970. While early rovers were remote controlled, communication latency with bodies beyond the Moon and the desire to improve mission effectiveness have resulted in increasing autonomy in planetary rovers. With an increase in autonomy, however, comes an increase in complexity. This can have a negative impact on the reliability of the rover system. With a fault-free system an unlikely prospect and human assistance millions of miles away, the rover must have a robust fault detection, isolation and recovery (FDIR) system. The need for comprehensive FDIR is demonstrated by the recent Chinese lunar rover, Y...

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Ultrasonic Auger for Narrow-Gauge Borehole Drilling

2018 IEEE International Ultrasonics Symposium (IUS), 2018

An ultrasonic auger was designed, manufactured, and tested in glass microspheres to investigate f... more An ultrasonic auger was designed, manufactured, and tested in glass microspheres to investigate force and torque reducing effects upon application of high-powered ultrasonic vibration. It was found that whilst vibration had no effect on overhead force during rotary augering, the torque was reduced by up to 30%, depending on amplitude of vibration.

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Bench-top demonstrations and laboratory experiments in the field of continuous-time control systems A LEGO-Based Control Experiment

Comparison of Control Methods for Autonomous Underwater Vehicles

IFAC Proceedings Volumes, 2003

Abstract This paper presents a comparison of different control methodologies for Autonomous Under... more Abstract This paper presents a comparison of different control methodologies for Autonomous Underwater Vehicles (AUVs). As AUVs operate out of contact of human operators and being untetherered it is paramount that the controllers are both robust and reliable. The three control methodologies that are compared in this paper are PID, Lead Lag and Sliding Mode.

Numerical stability of inverse simulation algorithms applied to planetary rover navigation

2016 24th Mediterranean Conference on Control and Automation (MED), 2016

Extending the navigational capability of planetary rovers is essential for increasing the scienti... more Extending the navigational capability of planetary rovers is essential for increasing the scientific outputs from such exploratory missions. In this paper a navigation method based on Inverse Simulation is applied to a four wheel rover. The method calculates the required control inputs to achieve a desired, specified response. Here this is a desired trajectory defined as a series of waypoints. Inverse Simulation considers the complete system dynamics of the rover to calculate the control input using an iterative, numerical Newton -Raphson scheme. The paper provides an insight into the numerical parameters that affect the performance of the method. Also, the influence of varying the timestep and the convergence tolerance is examined in terms of the quality of the calculated control input and the resulting trajectory, as well as the execution time. From this analysis a set of parameters and recommendations to successfully apply Inverse Simulation to a rover is presented.

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Evolution of a Strategy for Ship Guidance Using Two Implementations of Genetic Programming

Lecture Notes in Computer Science, 2005

In this paper the implementation of Genetic Programming (GP) to optimise a controller structure f... more In this paper the implementation of Genetic Programming (GP) to optimise a controller structure for a supply ship is assessed. GP is used to evolve control strategies for manoeuvring the ship. The optimised controllers are evaluated through computer simulations and real manoeuvrability tests in a water basin laboratory. In order to deal with the issue of generation of numerical constants, two kinds of GP algorithms are implemented. The first one chooses the constants necessary to create the control structure by random ...

GA-optimised PID and pole placement real and simulated performance when controlling the dynamics of a supply ship

IEE Proceedings - Control Theory and Applications, 2006

Abstract Two decoupled PID controllers and a state feedback pole placement control configuration ... more Abstract Two decoupled PID controllers and a state feedback pole placement control configuration have been designed for the navigation and propulsion systems of CyberShip II, a scale model of an oil platform supply ship. These control structures have parameters that need to be tuned to improve their performance. The values of these parameters have been optimised using genetic algorithms. The performance of these controllers has been analysed through computer-generated simulations based on a non-linear hydrodynamic ...

A comparative study of genetic operators for controller parameter optimisation

Control Engineering Practice, 2009

The objective of this paper is to propose a genetic algorithm (GA) scheme that works well in a sp... more The objective of this paper is to propose a genetic algorithm (GA) scheme that works well in a spectrum of controller parameter optimisation problems. A set of 18 different GAs, which combine three different selection methods, three probabilities of crossover and two probabilities of mutation, are used to solve four controller parameter optimisation problems and the results obtained are compared. In each of these problems the control methodology varies so the study covers a variety of current control research areas.

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Submarine manoeuvring controllers’ optimisation using simulated annealing and genetic algorithms

Control Engineering Practice, 2006

This paper is concerned with non-linear controller parameter optimisation for the diving and head... more This paper is concerned with non-linear controller parameter optimisation for the diving and heading motions of a submarine model. The structure of the non-linear controllers used for these manoeuvres is derived from Sliding Mode control theory for decoupled single input, single output systems. The performance of these controllers depends on key design parameters. In this comparative study the values of these controller parameters are optimised using three different optimisation techniques. These are simulated annealing, ...

Euan McGookin

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Conference Publications 2000-present by Euan McGookin

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