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A general framework of robot manipulation planning for door opening task is proposed in this paper. First grasp pattern, including grasp point and method for various door handles, is defined. Second door-opening pattern, including task planning and trajectory planning, is also proposed. This paper utilizes Kinect as a vision sensor to collect point cloud data of the environment. Viewpoint Feature...
The cascaded H-Bridge Dynamic Voltage Restorer (DVR) is embedded into the grid in series for suppressing voltage sags. The function of the LC filter in the DVR is to eliminate the switching ripples, and an accurate tracking feature in a certain frequency range is required in the LC filter. The parameter selection of the LC filter is a key factor which decides the cost and volume of the DVR. In the...
This paper presents a new compensation strategy based on instantaneous reactive power theory which can be used in the Dynamic Voltage Restorer (DVR). This strategy uses multiple DQ transformation with separation modules to extract the positive and negative sequence components from fundamental and harmonic waves, so as to analyze and adjust each component separately. As a result of this new strategy,...
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