RSA is a public-key (or asymmetric) encryption algorithm – which means that there are key pairs of public and private keys, where you encrypt with one of them and decrypt with the other.
DES and Triple-DES are block ciphers. You use them together with a mode of operation to encrypt or decrypt a message – you use the same key for encryption as for decryption. This is known as a symmetric algorithm.
Some modes of operation (all good ones) need an initialization vector, so identical plaintexts don't lead to identical ciphertexts (and sometimes other weaknesses as well). Normally this initialization vector should be send/stored together with the ciphertext, it doesn't have to be secret. Depending on the mode of operation and the usage scenario, the IV should be used only once, be random, or non-predictable.
Also, nowadays you should not use DES (it has a too small key size to be secure). Triple-DES is okay, but much slower (and not more secure) than modern algorithms like AES.