Transient Response Research Articles

Characteristics of Speech Auditory Brainstem Response in Preschool Children With Attention-Deficit/Hyperactivity Disorder.

This study aimed to investigate the characteristics of auditory processing (AP) in preschool children with attention-deficit/hyperactivity disorder (ADHD) using the speech auditory brainstem response (speech-ABR), which provides insights into the AP of speech signals in the central auditory nervous system (CANS). A total of 84 preschool children diagnosed with ADHD, aged 4-6 years, were matched with 84 typically developing (TD) children based on gender and age. All children underwent speech-ABR testing, cognitive assessment using the Wechsler Preschool and Primary Scale of Intelligence-Fourth Edition or the Wechsler Intelligence Scale for Children-Fourth Edition, and a continuous performance test. Children with ADHD exhibited significantly longer latencies of speech-ABR waveforms V, A, and D compared to TD children. Multiple linear regression analysis showed that the latencies of speech-ABR waves V, A, and D were affected by the presence of ADHD, but not by the full-scale intelligence quotient. This study revealed that preschool children with ADHD exhibited abnormal AP of speech signals in their CANS. The findings suggest that speech-ABR can be utilized as a reliable measure to evaluate AP ability in this population, as it remains unaffected by cognitive or attentional factors. The transient response (V, A) of speech-ABR was found to be a significant predictor of ADHD in a clinical setting. Early assessment of AP abnormalities via speech-ABR is recommended in preschool-age children to develop targeted interventions for ADHD. https://doi.org/10.23641/asha.26376502.

Fluid-structure coupling analysis in liquid-filled containers using scaled boundary finite element method

In this study, a semi-analytical model is developed to investigate the fluid-structure coupling characteristics of liquid sloshing in an elastic rectangular container subjected to horizontal external excitation based on the scaled boundary finite element method (SBFEM) for the first time. The fluid inside the container is assumed to be incompressible, inviscid and irrotational, with the hydrodynamic pressure chosen as independent nodal variable in the governing equations. The container walls are considered as cantilever beams. The coupled fluid-structure system is initially divided into the structural domain and fluid domain, after which the SBFEM is employed to obtain the governing equations for each sub-domain. In the framework of the SBFEM, only the boundary of each sub-domain, rather than the entire computational domain, needs to be meshed and discretized. This method reduces the spatial dimension of the problem by one and offers an efficient approach to model the computational domain, while allowing for analytical formulations to be derived for the internal of the domain, resulting in an accurate description of the field variables. The fundamental equation of the entire coupled fluid-structure system is then assembled by performing the equilibrium condition and compatibility condition to ensure the balance of interaction forces at the interface between container walls and the liquid. The free vibrations analysis of the fluid-structure coupling system is solved by utilizing the generalized eigenvalue problem, and the transient dynamic response is determined using the synchronous solution algorithm in conjunction with the implicit-implicit scheme of the Newmark method. To validate the excellent accuracy and stability of the proposed formulation, several numerical examples are presented to investigate the free vibration and transient dynamic characteristics for the fluid-structure coupling problem. The obtained results show good agreement with reference solutions available in the literature. Additionally, the effects of geometrical and material parameters on the system responses are examined and discussed.

Dynamic control analysis of energy-efficient side-stream extractive distillation process for separating close-boiling mixture

To separate the close-boiling mixture comprising heptane and toluene, this study introduces an environmentally-friendly method of side-stream extractive distillation by utilizing aniline as the separating agent. This approach modifies traditional extractive distillation by adding a side rectifier, converting two-way vapor and liquid communication into one-way liquid transfer using an additional distillation section along with corresponding reboiler. Our present study investigates the dynamic control behavior for a strongly non-ideal system without and with heat integration. It focuses on achieving stable and reliable regulatory control by closely keeping the dual-product composition to their original design standards. Key control loops are pinpointed, with a specific emphasis on those centered around adjusting reboiler heat duty and side-stream flow rate within extractive column C1 to regulate the temperatures of Stages 48 and 36. Furthermore, control effectiveness is enhanced by introducing a feedforward action of reboiler heat duty-to-feed flowrate. By developing a new and robust control architecture, high feed flowrate and composition disturbances can be managed efficiently, solving the issues of oscillation and large transient response.

Analysis of axisymmetric thermoelastic diffusive half-space with variable material properties using hyperbolic two-temperature model

The aim of the current study is to investigate the variable thermal conductivity and diffusivity impact on the transient response of an axisymmetric thermodiffusive elastic half-space under axisymmetric thermal, mechanical, and concentration loads in the light of hyperbolic two-temperature generalized fractional thermoelastic diffusion model. With the help of Kirchhoff’s transform, the governing equations are converted into linear form. The resulting equations are solved by imposing the combined Laplace–Hankel transform. In converted space, the solutions for different field quantities are presented in compact form. The copper material is considered for numerical computation. By employing a mathematical inversion procedure, the solutions are converted into the original space. Numerically computed solutions for various physical quantities are illustrated in the form of graphs to show the impact of variable thermal conductivity and diffusivity, hyperbolic two temperature, and fractional parameters. Validation of the obtained results is also presented.

An Optimized 3DOF-FOPID2-DF Controller with Improved Power Quality for Multi-Level Inverter in Grid-Connected PV Systems

Multi-level Inverters (MLIs) are increasingly employed in grid-connected Photovoltaic (PV) systems to optimize power quality. The use of MLIs offers several benefits over traditional inverters, including improved output waveform quality, reduced Total Harmonic Distortion (THD) and increased efficiency. However, the control of MLI is complex, and a precise control system is required to ensure that the system operates at optimal conditions. Therefore, an Adaptive Chaotic Mapping Philippine Eagle Optimization (ACM-PEO) algorithm-based Three degrees of freedom Fractional Order Proportional Integral Derivative with Dual Filter (3DOF-FOPID2-DF) controller is proposed. The dual derivative and dual filter component introduced in the 3DOF-FOPID controller improve the transient response of the system even under sudden load changes. The ACM-PEO algorithm further enhances the system performance of the 3DOF-FOPID2-DF controller by optimizing the parameter gains. The proposed ACM-PEO-based 3DOF-FOPID2-DF control technique is simulated in MATLAB and the simulation results demonstrate that it has improved transient and dynamic response, reduced THD, faster convergence and better tracking of the reference signal. These benefits enhance the efficiency and reliability of the systems.

Enhanced thermal management strategy for supercapacitors using phase change materials: A numerical investigation

The integration of phase change materials (PCMs) presents a promising possibility for enhancing the thermal management of supercapacitors (SCs), which are vital components in various energy storage systems. This research focuses on investigating the thermal behavior of SCs with integrated PCM, employing finite element method (FEM) simulations to solve the transient thermal problem. Through a comparative analysis at various time instants, the transient thermal response of SCs is examined, shedding light on the efficacy of PCM-based thermal management strategies. Moreover, parametric studies are conducted to investigate the influence of PCM key characteristics, like melting temperature and layer thickness on the SC thermal response. Additionally, the impact of enhanced PCM thermal conductivity is explored by integrating high-conductive short carbon fibers (CF) within the PCM matrix. This investigation encompasses various PCM melting points, allowing for a comprehensive understanding of the interplay between PCM properties and SC thermal response. The results indicate that a notable decline in the highest temperatures of the SC can be achieved, leading to a reduction of about 9 °C depending on the PCM melting temperature and the improved thermal conductivity. The obtained results emphasize the effectiveness and practical feasibility of the proposed thermal management strategy. The modeling approach presented provides a robust tool with significant efficiency in reducing computational time for analyzing the thermal behavior of large models, as the utilization of the homogenization technique notably decreases the computational time. The findings of this study not only provide insights into optimizing PCM-based thermal management strategies for SCs but also contribute to advancing the design and performance of energy storage systems by addressing crucial thermal challenges.

Noise Aware Fully Integrated Low Power and Low Inrush Current Fast Transient Response LDO

The complexity of Systems-on-Chip (SoC) designs necessitates robust linear regulator architectures to ensure stable operations and efficient power management in modern devices. In response to this demand, low-dropout (LDO) voltage regulators have emerged as a focal point for their scalability and superior performance across diverse application domains. This paper proposes an LDO linear regulator characterized by high power supply rejection ratio (PSR) and rapid transient response. The design of this LDO emphasizes low power consumption and minimal inrush current while incorporating advanced techniques to enhance PSR and stability across varying frequencies. Despite its compact footprint and low-power profile, this LDO achieves remarkable PSR across a broad spectrum of frequencies. To achieve swift transient response, the proposed design integrates variable biasing and transient boost capacitance. The variable bias structure enhances the slew rate and PSR of the LDO, contributing to its overall performance optimization. Additionally, the strategic placement and utilization of transient-boost capacitance leverage its voltage characteristics to bolster transient response without introducing additional quiescent current, thereby further enhancing circuit stability.

The ester-containing prodrug NT-0796 enhances delivery of the NLRP3 inflammasome inhibitor NDT-19795 to monocytic cells expressing carboxylesterase-1

NT-0796 is an ester prodrug which is metabolized by carboxylesterase-1 (CES1) to yield the carboxylic acid NDT-19795, an inhibitor of the NLR family pyrin domain-containing protein 3 (NLRP3) inflammasome. When applied to human monocytes/macrophages which express CES1, however, NT-0796 is much more potent at inhibiting NLRP3 inflammasome activation than is NDT-19795. Comparison of the binding of NDT-19795 and NT-0796 in a cell-based NLRP3 target engagement assay confirms that NDT-19795 is the active species. Moreover, microsomes expressing CES1 efficiently convert NT-0796 to NDT-19795, confirming CES1-dependent activation. To understand the basis for the enhanced potency of the ester prodrug species in human monocytes, we analyzed the accumulation and de-esterification of NT-0796 in cultured cells. Our studies reveal NT-0796 rapidly accumulates in cells, achieving estimated cellular concentrations above those applied to the medium, with concomitant metabolism to NDT-19795 in CES1-expressing cells. Using cells lacking CES1 or a poorly hydrolysable NT-0796 analog demonstrated that de-esterification is not required for NT-0796 to achieve high cellular levels. As a result of a dynamic equilibrium whereby NDT-19795 formed intracellularly is subsequently released to the medium, concentrations of NT-0796 sufficient to inhibit NLRP3 can be completely metabolized to NDT-19795 resulting in a transient pharmacodynamic response. In contrast, when NDT-19795 is applied directly to cells, observed cell-associated levels are below those present in the medium and remain stable over time. Dynamics observed within the context of a closed tissue culture system highlight the utility of NT-0796 as a vehicle for delivering the NDT-19795 acid payload to CES1 expressing cells.

A transient brain endothelial translatome response to endotoxin is associated with mild cognitive changes post-shock in young mice

Sepsis-associated encephalopathy (SAE) is associated with increased risk of long-term cognitive impairment. SAE is driven, at least in part, by brain endothelial dysfunction in response to systemic cytokine signaling. However, the mechanisms driving SAE and its consequences remain largely unknown. Here, we performed translating ribosome affinity purification and RNA-sequencing (TRAP-seq) from the brain endothelium to determine the transcriptional changes after an acute endotoxemic (LPS) challenge. LPS induced a strong acute transcriptional response in the brain endothelium that partially correlates with the whole brain transcriptional response and suggested an endothelial-specific hypoxia response. Consistent with a crucial role for IL-6, loss of the main regulator of this pathway, SOCS3, leads to a broadening of the population of genes responsive to LPS, suggesting that an overactivation of the IL-6/JAK/STAT3 pathway leads to an increased transcriptional response that could explain our prior findings of severe brain injury in these mice. To identify any potential sequelae of this acute response, we performed brain TRAP-seq following a battery of behavioral tests in mice after apparent recovery. We found that the transcriptional response returns to baseline within days post-challenge, but reductions in gene expression regulating protein translation and respiratory electron transport remained. We observed that mice that recovered from the endotoxemic shock showed mild, sex-dependent cognitive impairment, suggesting that the acute brain injury led to sustained effects. A better understanding of the transcriptional and non-transcriptional changes in response to shock is needed in order to prevent and/or revert the devastating consequences of septic shock.

Transient peripheral blood transcriptomic response to ketamine treatment in children with ADNP syndrome

Activity-dependent neuroprotective protein (ADNP) syndrome is a rare neurodevelopmental disorder resulting in intellectual disability, developmental delay and autism spectrum disorder (ASD) and is due to mutations in the ADNP gene. Ketamine treatment has emerged as a promising therapeutic option for ADNP syndrome, showing safety and apparent behavioral improvements in a first open label study. However, the molecular perturbations induced by ketamine remain poorly understood. Here, we investigated the longitudinal effect of ketamine on the blood transcriptome of 10 individuals with ADNP syndrome. Transcriptomic profiling was performed before and at multiple time points after a single low-dose intravenous ketamine infusion (0.5 mg/kg). We show that ketamine triggers immediate and profound gene expression alterations, with specific enrichment of monocyte-related expression patterns. These acute alterations encompass diverse signaling pathways and co-expression networks, implicating upregulation of immune and inflammatory-related processes and down-regulation of RNA processing mechanisms and metabolism. Notably, these changes exhibit a transient nature, returning to baseline levels 24 hours to 1 week after treatment. These findings enhance our understanding of ketamine’s molecular effects and lay the groundwork for further research elucidating its specific cellular and molecular targets. Moreover, they contribute to the development of therapeutic strategies for ADNP syndrome and potentially, ASD more broadly.

Switching Response in Organic Electrochemical Transistors by Ionic Diffusion and Electronic Transport.

The switching response in organic electrochemical transistors (OECT) is a basic effect in which a transient current occurs in response to a voltage perturbation. This phenomenon has an important impact on different aspects of the application of OECT, such as the equilibration times, the hysteresis dependence on scan rates, and the synaptic properties for neuromorphic applications. Here we establish a model that unites vertical ion diffusion and horizontal electronic transport for the analysis of the time-dependent current response of OECTs. We use a combination of tools consisting of a physical analytical model; advanced 2D drift-diffusion simulation; and the experimental measurement of a poly(3-hexylthiophene) (P3HT) OECT. We show the reduction of the general model to simple time-dependent equations for the average ionic/hole concentration inside the organic film, which produces a Bernards-Malliaras conservation equation coupled with a diffusion equation. We provide a basic classification of the transient response to a voltage pulse, and the correspondent hysteresis effects of the transfer curves. The shape of transients is basically related to the main control phenomenon, either the vertical diffusion of ions during doping and dedoping, or the equilibration of electronic current along the channel length.

A power-efficient fast-transient OCL-LDO with adaptive super source follower and active capacitor compensation management

This paper presents a flipped voltage follower (FVF) based output-capacitor-less low-dropout regulator (OCL-LDO) with fast transient response, high power supply rejection (PSR), and low quiescent current for noise-sensitive circuits in internet-of-things (IoTs). An adaptive super source follower (ASSF) is proposed to effectively reduce the output impedance of the voltage buffer under heavy-loading conditions while keeping a low quiescent current under light-loading conditions. The active capacitor compensation management (ACCM) is proposed to solve the charge-sharing problem caused by the floating capacitors in the dynamic capacitor compensation circuit. The proposed OCL-LDO has been designed and fabricated in 22-nm CMOS technology. It can stabilize with load current ranging from 0 to 12 mA while consuming only 4.8-μA quiescent current. when the load current steps from 0.1 to 10 mA within 3.8 ns, the measured voltage undershoot is 55 mV and the recovery time is about 60 ns.

Multi-factor coupling analysis of electric field distribution in electrochemical machining with electrolyte suction tool

Electrochemical machining (ECM) technology holds significant potential for applications in high accuracy engineering and manufacturing. To confine the electrolyte region during ECM and mitigate the effects of reaction products and heat generation, an electrolyte suction tool has been proposed. However, the complex electric field distribution on the anode surface during the application of pulse voltage, limits the further utilization of ECM with suction tool. A multi-physics simulation model is established to calculate the region of electrolyte confinement by the suction tool, current density distribution within the electrolyte region, and material removal. The model considers the combined effects of polarization and double layer, and all key parameters are calibrated through classical electrochemical testing experiments rather than fitted based on the predicted results. This study elucidates the transient response of current density on the anode surface during the application of pulse voltage. The simulation accuracy is validated by comparing experimental and simulated current waveforms, as well as material removal profiles under different pulse parameters and electrode shapes. This research is of great significance for improving surface precision and controllability of complex structures in ECM with suction tool, promoting its further application in the field of precision machining.

GaAs-on-insulator based vertical heterojunction tunnel FET: proposal and analysis for VLSI circuit applications

This work analyses the Gallium Arsenide (GaAs)-on-insulator based vertical heterojunction tunnel FET with Gallium Antimonide (GaSb) as source material and GaAs as channel/drain material (GaSb/GaAs VTFET) to enhance the performance of the device and is compared with the Silicon-based VTFET. Silvaco Atlas TCAD tool is employed to perform numerical calculations. Tentative fabrication process flow of GaSb/GaAs VTFET is presented. GaSb is a low bandgap material that enhances the tunneling of charge carriers at source-channel heterojunction. GaSb/GaAs VTFET device outperforms Si-based VTFET in terms of electrical performance metrics such as ON-state current (ION), and ION/IOFF increases by a factor of 11 and 270 respectively; whereas OFF-state current (IOFF), subthreshold swing (SS), threshold voltage (VT) and drain-induced barrier lowering (DIBL) reduce by 95.98%, 39.36%, 17.14% and 29.17% respectively. Further, analog/RF and linearity/distortion performance analysis is carried out. GaSb/GaAs VTFET has improved analog/RF performances in terms of cut-off frequency (fT), gain-bandwidth product (GBP), transit time (τ), device efficiency (DE), transconductance frequency product (TFP) and suppressed distortions in compare to Si-based VTFET. Finally, GaSb/GaAs VTFET is evaluated for process variations and designing digital inverter and common source amplifier circuits. The Look-up-table (LUT) based Verilog-A model within the CADENCE tool has been employed to scrutinize the transient responses of inverter and common source amplifier circuits. Unity gain frequency and 3-dB bandwidth obtained for GaSb/GaAs VTFET amplifier are 15 GHz and 5.97 GHz. Therefore, this work presents GaSb/GaAs VTFET’s strong candidature for analog and digital VLSI circuit designing.

A 0.91-[formula omitted]A-quiescent-current capacitor-less LDO with sub-threshold transient enhancement and bulk-driven feed-forward supply ripple cancellation

This paper presents a capacitor-less low-dropout (OCL-LDO) regulator that features a low quiescent current for low power applications. To enhance the transient response of proposed OCL-LDO, a sub-threshold transient enhancement circuit including a transient signal input stage, a current subtractor, and a current amplifier is suggested. Meanwhile, a circuit made up of a bulk-driven ripple feed-forward circuit and a ripple introduction circuit is developed in order to improve PSR of the OCL-LDO. The proposed OCL-LDO is fabricated in 0.18 μm standard CMOS process and has an active area of 0.053 mm2. Based on measurement results, the proposed OCL-LDO has a maximum load current of 100 mA at 1.2 V input and 1 V output, and a minimum quiescent current of 0.91 μA. The overshoot voltage and undershoot voltage are 199 mV and 204 mV, respectively. PSR of the OCL-LDO is −71.8 dB at 1 KHz when the load current is 100 mA. Furthermore, the OCL-LDO exhibits a load regulation of 11.1 μV/mA and a line regulation of 1.05 mV/V.

Deviation analysis in transient response of fractional-order systems: An elementary function-based lower bound

In this paper, transient response of commensurate fractional-order systems with non-zero initial conditions is investigated in the viewpoint of the existence of deviation from initial condition. In particular, firstly peak effect for a class of linear fractional order systems is inspected by presenting a lower bound for their responses. Such a lower bound is described by an elementary function, where the commensurate order of the system is considered as a rational number. Furthermore, it has been demonstrated that under particular circumstances the derived lower bound can be extended to apply for deviation analysis in response of a class of fractional-order nonlinear systems. Moreover, included are various illustrative examples intended to assess the applicability of the obtained lower bound in prediction of the deviation value and the time instance at which the peak effect occurs.

A Hybrid Control Framework for Chemical Processes with Long Time Delay: Theory and Experiments.

This paper proposes a hybrid control framework based on internal model concepts, sliding mode control methodology, and fractional-order calculus theory. As a result, a modified Smith predictor (SP) is proposed for nonlinear systems with significant delays. The particular predictive approach enhances the sliding mode control (SMC) controller's transient responses for dead-time processes, and the SMC gives the predictive structure robustness for model mismatches by combining the previous methods with fractional order concepts; the result is a dynamical sliding mode controller. A numerical example is considered to evaluate the performance of the proposed approach, where a step change, external disturbance, and parametric uncertainty test are performed. A real application in the TCLab Arduino kit is presented; the proposed method presented good performance with a little amount of chattering, and in the disturbance rejection case, the overshoot increased with an aggressive response; in both cases, better tuning parameters can improve the process response and the controller action.

Robust and intelligent power control for three-bladed horizontal axis wind turbine system using a real wind profile of the northern Morocco

In this work, a robust and intelligent control approach is developed for three-bladed horizontal axis variable-speed wind turbine (VSWT) operating under real climatic conditions (whether the WT is onshore or offshore). Below the rated power, the main purpose of the controller is to optimize the extraction of energy from wind and ensure the full exploitation of the installation, all while minimizing mechanical stress in the system in the presence of uncertainties and external disturbances. In order to achieve optimized wind energy capture without chattering problems or oscillatory phenomena, this study proposes combining the Integral Sliding Mode Control (ISMC) with an artificial neural network technique such as the Radial Basis Function (RBF) to enhance controller performances. Additionally, the RBF neural network (RBFNN) approach is implemented to estimate the wind turbine (WT) model uncertain part, allowing the use of a lower switching gain to achieve faster convergence and avoid steady-state error. Thus, by means of Lyapunov theory, the stability of the system with this controller can be demonstrated. Simulation results of the proposed Neural Network Integral Sliding Mode Control (NN-ISMC) controller are compared with the usual SMC and the standard ISMC. The comparative analysis indicate a superior efficiency of the developed control strategy in terms of decreasing tracking error and eliminating chattering behavior. Moreover, this approach provides a faster transient system response and higher robustness in presence of uncertainties compared to the other controllers.

A transient-enhanced output-capacitorless LDO regulator with non-inverting pull–push gain stage

A novel non-inverting pull–push gain stage output-capacitorless low-dropout regulator (OCL-LDO) is introduced, designed specifically for power management of system-on-chip (SoC). The incorporation of an innovative non-inverting gain stage (NIGS) serves to shift the non-dominant parasitic poles to higher frequencies, thereby enhancing the overall stability of the system. The proposed pull-push configuration markedly improves the slew rate limitation at the gate of the power transistor. Post-layout simulation outcomes, corroborated through a 180-nm CMOS fabrication process, indicate that the proposed LDO regulator maintains stability across a wide range of loading currents, from 0 mA to 100 mA, with a Miller compensation capacitance of only 3.5 pF. The circuit operates with a quiescent current of 143 μA when powered by a 1.5 V single supply. The LDO regulator boasts a dropout voltage of 300 mV, enabling it to deliver up to 100 mA of load current. Simulation results show that the undershoot voltage is only 63.7 mV when the load current jumps from 0 to 100 mA with edge of 100 ns, while employing a 100 pF capacitance load. The recovery time to return to equilibrium post this abrupt change is approximately 0.15 μs. The proposed OCL-LDO regulator exhibits a substantial enhancement in transient response compared to its predecessors, alongside a harmonized balance between line regulation and load regulation performance parameters.

Optimizing the Steering of Driverless Personal Mobility Pods with a Novel Differential Harris Hawks Optimization Algorithm (DHHO) and Encoder Modeling.

This paper aims to improve the steering performance of the Ackermann personal mobility scooter based on a new meta-heuristic optimization algorithm named Differential Harris Hawks Optimization (DHHO) and the modeling of the steering encoder. The steering response in the Ackermann mechanism is crucial for automated driving systems (ADS), especially in localization and path-planning phases. Various methods presented in the literature are used to control the steering, and meta-heuristic optimization algorithms have achieved prominent results. Harris Hawks optimization (HHO) algorithm is a recent algorithm that outperforms state-of-the-art algorithms in various optimization applications. However, it has yet to be applied to the steering control application. The research in this paper was conducted in three stages. First, practical experiments were performed on the steering encoder sensor that measures the steering angle of the Landlex mobility scooter, and supervised learning was applied to model the results obtained for the steering control. Second, the DHHO algorithm is proposed by introducing mutation between hawks in the exploration phase instead of the Hawks perch technique, improving population diversity and reducing premature convergence. The simulation results on CEC2021 benchmark functions showed that the DHHO algorithm outperforms the HHO, PSO, BAS, and CMAES algorithms. The mean error of the DHHO is improved with a confidence level of 99.8047% and 91.6016% in the 10-dimension and 20-dimension problems, respectively, compared with the original HHO. Third, DHHO is implemented for interactive real-time PID tuning to control the steering of the Ackermann scooter. The practical transient response results showed that the settling time is improved by 89.31% compared to the original response with no overshoot and steady-state error, proving the superior performance of the DHHO algorithm compared to the traditional control methods.