Sharif Digital Repository

Nowdays, many of communication systems working together. The fist part of each communication system is related to separating a desired part of system input signal. This is called channelisation. Channelization is a process where single, few, or all channels from a certain frequency band are separated for further processing. The separation of single channel is usually done by down-conversion followed by filtering and optional sample-rate conversion. A straightforward implementation for multi channel sepration, which is also the traditional implementation of wideband channelizer, is to simply use a single-channel channelizer for each channel. A few applications require that an input signal be... 

The present research intends to design a controller for modular reconfigurable manipulator robots. Manipulators are made up of several links and joints. By attachment of links and joints in different ways, one may make a variety of robot configurations in modular reconfigurable manipulators.
To meet modularity and reconfiguration needs, hybrid control architecture was selected which contains a central supervisory section and distributed controllers located on individual modules. Central supervisory section specifies the trajectory of the robot and other control tasks like position control, speed control and etc. are performed by distributed controllers. In hybrid architecture, dynamic...