A New Nonlinear Dynamic Speed Controller for a Differential Drive Mobile Robot.

A disturbance/uncertainty estimation and disturbance rejection technique are proposed in this work and verified on a ground two-wheel differential drive mobile robot (DDMR) in the presence of a mismatched disturbance. The offered scheme is the an improved active disturbance rejection control (IADRC) approach-based enhanced dynamic speed controller. To efficiently eliminate the effect produced by the system uncertainties and external torque disturbance on both wheels, the IADRC is adopted, whereby all the torque disturbances and DDMR parameter uncertainties are conglomerated altogether and considered a generalized disturbance. This generalized disturbance is observed and cancelled by a novel nonlinear sliding mode extended state observer (NSMESO) in real-time. Through numerical simulations, various performance indices are measured, with a reduction of 86% and 97% in the ITAE index for the right and left wheels, respectively. Finally, these indices validate the efficacy of the proposed dynamic speed controller by almost damping the chattering phenomena and supplying a high insusceptibility in the closed-loop system against torque disturbance.

Data Transmission Enhancement Using Optimal Coding Technique Over In Vivo Channel for Interbody Communication.

Wireless in vivo actuators and sensors are examples of sophisticated technologies. Another breakthrough is the use of in vivo wireless medical devices, which provide scalable and cost-effective solutions for wearable device integration. In vivo wireless body area networks devices reduce surgery invasiveness and provide continuous health monitoring. Also, patient data may be collected over a long period of time. Given the large fading in in vivo channels due to the signal path going through flesh, bones, skins, and blood, channel coding is considered a solution for increasing the efficiency and overcoming inter-symbol interference in wireless communications. Simulations are performed by using 50 MHz bandwidth at Ultra-Wideband frequencies (3.10-10.60 GHz). Optimal channel coding (Turbo codes, Convolutional codes, with the help of polar codes) improves data transmission performance over the in vivo channel in this research. Moreover, the results reveal that turbo codes outperform polar and convolutional codes in terms of bit error rate. Other approaches perform similarly when the information block length is increased. The simulation in this work indicates that the in vivo channel shows less performance than the Rayleigh channel due to the dense structure of the human body (flesh, skins, blood, bones, muscles, and fat).