Leveraging Kernelized Synergies on Shared Subspace for Precision Grasping and Dexterous Manipulation

Manipulation in contrast to grasping is a trajectorial task that needs to use dexterous hands. Improving the dexterity of robot hands, increases the controller complexity and thus requires to use the concept of postural synergies. Inspired from postural synergies, this research proposes a new framework called kernelized synergies that focuses on the re-usability of same subspace for precision grasping and dexterous manipulation. In this work, the computed subspace of postural synergies is parameterized by kernelized movement primitives to preserve its grasping and manipulation characteristics and allows its reuse for new objects. The grasp stability of proposed framework is assessed with the force closure quality index, as a cost function. For performance evaluation, the proposed framework is initially tested on two different simulated robot hand models using the Syngrasp toolbox and experimentally, four complex grasping and manipulation tasks are performed and reported. Results confirm the hand agnostic approach of proposed framework and its generalization to distinct objects irrespective of their dimensions

Technical and Economical Evaluation of Proton Exchange Merobrane (PEM) Fuel Cell for Commercial Applications

The green energy sources are the utmost needs of today’s world where the reserves of fossil fuel are depleting day by day. The Distributed Generation (DG) has become integral part of power system at commercial level. The most efficient among all DGs and Renewable Energy Sources (RES) is the Fuel Cell (FC) power generation. The fuel cell invariably converts chemical energy directly into electricity. The Fuel cells have normally 60 to 70% efficiency at working conditions. The polarization curve of fuel cell plays important role in improving its efficiency. This research presents the mathematical and Simulink modeling 6 kW, 45 Vdc of Proton Exchange Membrane (PEM) fuel cell. The input thermodynamic parameters of fuel cell are varied and their effects on the output electrical variable are observed. The DC/DC boost converter is used to step up the voltage of fuel cell to 100 Vdc at commercial usable level. A new mathematical equation is presented to improve the efficiency of fuel. The mathematical results are then varied through Simulink results

Power Loss Reduction With Optimal Size And Location Of Capacitor Banks Installed At 132 kv Grid Station Qasimabad Hyderabad

With Growing Concerns About Voltage Profile And Power Factor At Distribution Networks, The Capacitor Banks Are Invariably Installed For Reactive Power Compensation. The Reactive Power Supplied By Capacitor Banks Is Proportional To Square Of Their Rated Loading Voltage. Capacitor Banks Eventually Increase The Loading Capacity Of Feeders, So As To Supply More Customers Through Same Line Section. Capacitor Banks Can Be Installed Anywhere On The Network. The Idea Of This Paper Is To Reduce Total Power Loss And Ensure Greater Availability Of Capacitor Bank Installed At 132 Kv Grid Station Qasimabad Hyderabad, For Reactive Power Compensation, Even Under Worst Conditions On Distribution System. This Is Achieved By Enhancing Its Location And Size. At Present Capacitor Bank Of Full Size, I.E. Of 1.21 Mvar Is Installed At 11 Kv Bus Of 132 Kv Grid Station Qasimabad Hyderabad. Moreover This Paper Suggests Small Sized Capacitor Banks That Would Be Installed At Different Feeders Instead Of One Large Size Capacitor Bank At 11 Kv Bus. The Voltage Profile And Power Losses With Present Sized Capacitor Bank And The Proposed Small Sized Capacitor Banks Are Compared In This Work. The Distribution Network Has Been Simulated By Using MATLAB