A miniature (30 × 10 mm2) efficient planar monopole antenna with stable radiation pattern for UWB applications (3.1-10.6 GHz) is proposed in this paper. These characteristics, wide bandwidth and radiation stability, are achieved by using original design solutions with maintaining a small size and good efficiency of the system. Based on modified ground plane and loop feeding structure, the first design solution consist to propose a simple technique which not requires any discrete additional elements or circuits and does not affect the overall dimensions of the basic structure. This technique enhances the (-6 dB) bandwidth of the planar monopole antenna by approximately 50% compared to the basic structure while maintaining the same dimension (30 × 10 mm2). The optimized proposed antenna presents a large bandwidth, good radiation stability, total efficiency higher than 70% over the entire band and small size (30 × 10 mm2) which will enable to use it in different UWB applications. In the second step, two L slots are added in the printed circuit board of the proposed UWB antenna to reach a good stability of the radiation pattern on the overall desired band.

This paper presents a PID fast terminal sliding mode dynamic inverse control method for wheeled mobile robots. Because of the nonlinear and nonholonomic properties, it is difficult to establish an appropriate model of the mobile robot system for trajectory tracking. The PID Control is based on a fast terminal sliding mode control to ensure asymptotic stabilization of the robot's position and orientation around the desired trajectory, taking into account the kinematics and dynamics of the robot. The idea behind this strategy is to use the terminal sliding mode control approach to assure the finite time convergence of tracking errors to zero. Simulation works demonstrate the efficacy of the proposed system for mobile robots robust tracking trajectory.

This article deals with the study of a new swimming microrobot behavior using an analytical investigation. The analyzed microrobot is associated by a spherical head and hybrid tail. The principle of modeling is based on solving of the coupled elastic/fluidic problems between the hybrid tail’s deflections and the running environment. In spite of the resulting nonlinear model can be exploited to enhance both the sailing ability and also can be controlled in viscous environment using nonlinear control investigations. The applications of the micro-robot have required the precision of control for targeting the running area in terms of response time and tracking error. Due to these limitations, the Flatness-ANFIS based control is used to ensure a good control behavior in hazardous environment. Our control investigation is coupled the differential flatness and adaptive neuro-fuzzy inference techniques, in which the flatness is used to planning the optimal trajectory and eliminate the nonlinearity effects of the resulting model. In other hand, the neuro-fuzzy inference technique is used to build the law of control technique and minimize the dynamic error of tracking trajectory. In particular, we deduct from a non linear model to an optimal model of the design parameter’s using Multi-Objective genetic algorithms (MOGAs). In addition, Computational fluid dynamics modeling of the microrobot is also carried out to study the produced thrust and velocity of the microrobot displacement taking into account the fluid parameters. Our analytical results have been validated by the recorded good agreement between the numerical and analytical results.

In this study, an ultrasensitive biological boron nitride-based nanotube (Bio-BNNT) sensor is modeled and investigated by means of neural approach. The type of configuration studied is a cantilevered BNNT resonator sensor with an attached mass at the tip. The idea behind our resonator sensor is based on the determination of the natural BNNT frequency shift induced by added biological mass. A multilayer perceptron neural network is used to predict the attached mass, which causes a variation of the BNNTs frequency shift with different diameters and lengths. This model is implemented in the form of a component in the ORCAD-PSPICE electric simulator library. The component should reproduce faithfully the biological sensor behavior. Moreover, we have developed an inverse model called intelligent sensor in order to remove the nonlinearity response provided by the sensor. The association of this ANN-based corrector has brought significant improvement for high sensing performance.

Iron thin films were deposited on glass substrates using RF magnetron sputtering and their optimal deposition conditions were determined. The structure properties were analyzed using x-ray diffraction (XRD) and their magnetic hysteresis loops were obtained by Vibrating Sample Magnetometer (VSM) at room temperature. In this situation, the magnetic field is either parallel or perpendicular to the substrate plane. The main contribution of this work is to characterize the thin layers and present a mathematical model that can get best fit of the characteristics B(H). By using Preisach model, good agreement was obtained between theoretical and experimental results in both cases.