Microwave imaging is an efficient technique that can be used for the early detection of breast cancer. Therefore the current research article presents the microwave imaging of two spherical tumors (radius 4 and 5 mm) in the breast phantom by using the monostatic radar-based technique. This is carried out by using an ultra-wideband (4.9–10.9 GHz), three-layered stacked aperture coupled microstrip antenna (SACMPA) with a defected ground structure to scan the breast phantom and make near field S parameter measurements from a breast phantom. The S parameter data from different locations and at different time intervals are noted and then used in a beam-forming algorithm; Delay and Sum to process it and form a 2D image of the tumor location in the breast phantom using MATLAB.

The proposed SACMPA is a three-layered structure with overall dimensions of 37 × 43 × 4.85 mm3 that shows an impedance bandwidth of 6 GHz (4.9–10.9 GHz) and a simulated peak gain of 6.32 dB at a frequency of 9.1 GHz. The validation of S parameters and gain results are done using a Vector Network Analyzer (VNA) and an anechoic chamber. The experimental validation of the proposed microwave imaging procedure is done by allowing the SACMPA to radiate parallel to the breast phantom made from polythene (skin), petroleum jelly (fat), and wheat flour (with water as tumor) and record the S parameters on the VNA. The proposed microwave method is safe for human exposure as the antenna also shows simulated specific absorption rates of 0.271 and 1.115 W/Kg (on the breast phantom) at frequencies of 5.7 and 6.5 GHz, respectively (for 1 g of body tissue).

In this paper, a flexible single fed planar circular polarized slot antenna is proposed for Internet of Things wideband applications. The antenna flexibility is achieved by employing a mechanically bendable liquid crystalline polymer substrate. The overall antenna volume is 50 mm × 42 mm × 0.1 mm. The antenna design uses 45° rotated elliptical ground structure for generating circular polarized radiation over wideband spectrum. Two parametrical analyses targeting the slot ground are introduced in order to achieve the most efficient design. The final antenna design demonstrates a good matching in terms of reflection coefficient (<−10 dB), semi-omnidirectional radiation patterns, average gain of 4 dB, and <3 dB axial ratio over entire frequency band of operation. All antenna parameters are studied in both straight and bent antenna setup scenarios. Good agreement between simulation and measurement results of the antenna parameters are achieved. For both straight and bent antenna scenarios, the antenna receiving functionality in time domain is confirmed by retrieving highly correlated impulse responses.

This paper proposes a novel sensor fusion approach using Ultra Wide Band (UWB) wireless radio and an Inertial Navigation System (INS), which aims to reduce the accumulated error of low-cost Micro-Electromechanical Systems (MEMS) Inertial Navigation Systems used for real-time navigation and tracking of mobile robots in a closed environment. A tightly-coupled model of INS/UWB is established within the integrated positioning system. A two-dimensional kinematic model of the mobile robot based on kinematics analysis is then established, and an Auto-Regressive (AR) algorithm is used to establish third-order error equations of the gyroscope and the accelerometer. An Improved Adaptive Kalman Filter (IAKF) algorithm is proposed. The orthogonality judgment method of innovation is used to identify the “outliers”, and a covariance matching technique is introduced to judge the filter state. The simulation results show that the IAKF algorithm has a higher positioning accuracy than the KF algorithm and the UWB system. Finally, static and dynamic experiments are performed using an indoor experimental platform. The results show that the INS/UWB integrated navigation system can achieve a positioning accuracy of within 0·24 m, which meets the requirements for practical conditions and is superior to other independent subsystems.