I built this model out of stainless steel scraps from my welding shop workplace several years ago. I had it working with a Radio control transmitter and ran it around San Francisco Bay in several spots before storing it for awhile. Well a couple of months ago I finished chopping it shorter a little bit & rewelded it back together to make it lighter. Now I want to replace all the RC stuff with something a little more advanced so I could have it run autonomously in a pattern which brought me to this site. I am reading the storys on this site as a way of becoming somewhat knowledgeable of all the hardware used in all sorts of robotic systems. I have a larger 30 ft sailboat I would use at times use in conjuction with this robot boat. Anyone with ideas on how to fit together a package electronics to make the brains of such a system? In the meantime I will keep studing the projects show on these pages.