PhD

Abstract : The aim of this thesis can be divided into two main parts. In the first part an algorithm to solve the inverse kinematics problem of a complex structure robotic manipulator based on the rotation vector concept is presented. Solution of the inverse kinematics problem of the robotic manipulator represents one of the problems in the field of the robotic systems. In the proposed algorithm the orientation of the gripper is described with the aid of the rotation vectors too.

Abstract : Orthogonal Frequency Division Multiplexing (OFDM) has been employed as an attractive solution for wireless communication, because of the digital implementation of OFDM in which subcarrier generation and data modulation are accomplished digitally using orthogonal transformation such as Fast Fourier Transform (FFT) of data block. This technique is considered as a building block of the suggested spread spectrum scheme.