The focus of this article was on the Doppler effect caused by the acceleration due to the relative motion between the transmitter and receiver. This acceleration affects the correlation behavior of the cyclic prefix and destroys the orthogonality of the sub-carriers due to the synchronization impairments.
The proposed system is assessed through simulations at different scenarios and at different channel conditions to imitate the realistic case. Additionally, the suggested method is investigated with an off-line data that was recorded and processed from an experiment at the North Sea. This paper presented a technique to tackle the effect of a broadband time varying Doppler shift in UWC. This technique adopted a learn- ing and punishment approach to iteratively estimate the Doppler shift parameters. These parameters were estimated by the cooperation of a two point estimation of the normalized correlation of the first order moment in addition to the linear prediction of the speed change. This method is very robust when the relative velocity is changing linearly and capable of dealing with the ve- locity inflection. The suggested algorithm is capable of tackling an acceleration up to ±1 m/s2 during the packet time and correcting a speed up to 3 m/s.
Robotic hand has a great importance in the current life and it interferes in many fields, as the industry,medical and chemical fields that need more power, speed and accuracy that human cannot provide these properties well so in this case is need to robotic hand.
This project involves the design and implementation of robotic hand controlled wireless via Bluetooth module for transmit and receive motion signals which emitates human hand fingers motion.
The design consisting of two circuits: the transmission circuit and receiving circuit. The transmitter circuit consists of a glove worn by the person and sensors (flex sensor)supported on it which is sensitive to the fingers of the human hand movement, the micro-controller (Arduino card) will be used for processing of reading signals from sensors and perform the control or actuating signals to servo motors. Two Bluetooth modules (master) is used to send data from the glove that involve the sensors reading to Arduino card and (slave) circuit to receiving control signal from Arduino card and actuate the servo motors. The robotic hand consisting of five fingers is designed and implementation success fully.Each finger has three degrees of freedom (3DOF’s), and controlled via one servo motor to activate the robotic fingers of in the angle of rotation from 0° to 180°. The forward and inverse kinematics for the index figure are derived mathematically for (3 DOF’s) robot and its trajectory motion is simulated by using Matlab Simulink. This subject has been explained by Asst. Lec. Zeyad Abdel Wahed in a seminar held on Thursday 6/12/2018 with the faculty staff of the system engineering department.