Pipelining is a well-known efficient technique for optimally designing high performance digital circuits. Complex samples of a complex baseband signal are received from a receiver. When the inductor current reaches zero, the P-channel transistor becomes inactive to prevent a reduction in efficiency caused by allowing negative inductor current to draw current from a load. The controller is operatively coupled to the optical fiber and adapted to: receive one or more signals from the plurality of strain sensors; and determine a position of the elongate body based on the one or more signals. Substrate transceivers are operable to transmit through the wave guides, while local transceivers are operable to produce very short range wireless transmissions through space.