Abstract: An aircraft cleaning robot comprises a robot arm (14); a brush (34) rotatably attached to the robot arm (14) to be rotated about a brush rotation axis (R); and a controller (56) configured to control the position of the cleaning head (32), wherein the aircraft cleaning robot (10) is configured to automatically orient the brush (34) such that a cleaning face (37) of the cleaning head (32) is aligned with the surface being brushed; and the controller (56) is configured to, based on input from the robot arm (14) and/or cleaning head (32), determine a cleaning direction in which the cleaning face (37) is presently facing; and, based on the determined cleaning direction, operate the robot arm (14) along the cleaning direction to apply a brush engagement pressure in said cleaning direction.

Abstract: A paper towel dispenser includes a housing for holding a stack of interfolded towels. The housing includes a front wall, a rear wall, two outer side walls, an upper wall and a support surface for the stack of towels, the stack of towels being located adjacent and parallel to at least the front wall. The front wall extends a predetermined distance below the support surface. A dispensing opening is located between the front wall and the support surface, and at least one guide element is arranged to support a leading panel of a first towel adjacent the front wall and a leading edge of the leading panel parallel to the lower edge of the front wall.

Abstract: A paper towel dispenser includes a housing for holding a stack of interfolded towels. The housing includes a front wall, a rear wall, two outer side walls, an upper wall and a support surface for the stack of towels, the stack of towels being located adjacent and parallel to at least the front wall. The front wall extends a predetermined distance below the support surface. A dispensing opening is located between the front wall and the support surface, and at least one guide element is arranged to support a leading panel of a first towel adjacent the front wall and a leading edge of the leading panel parallel to the lower edge of the front wall.

Abstract: A method and a device in an electric power network (1), comprising an active filter (4) controllable via a control input (41), for reducing disturbances generated by a disturbance source (6) located in and/or connected to the power network. A control member (8) is adapted, based on at least one first state variable (Y1i) sensed in the power network (1) and a model of the power network (1), to calculate the disturbances (X2) which occur in a second section (B--B) in the power network (1) without action from the active filter (4), to calculate a control signal (C1) such that, supplied to the control input (41), it would generate in the second section (B--B) the calculated disturbances (X2) with reversed polarity, and to generate the control signal (C1) and supply this to the control input (41).

Abstract: A method and a device in an electric power network (1), comprising an active filter (4) controllable via a control input (41), for reducing disturbances generated by a disturbance source (6) located in and/or connected to the power network. A control member (8) is adapted, in dependence on the control deviation (DU) from a desired value (Y2iR) of at least one state variable (Y2i) sensed in the power network (1), to generate a control signal (C1) which is supplied to the control input (41). The control member (8) is adapted to transform the control deviation (DU) in a filter device (93) with a transfer function (FI) which simulates the inverse of the transfer function (F1') from the control signal (C1) to the control deviation (DU) and/or to filter the output signal of the controller in a filter device (943, 953, 956) without any phase shift. (FIGS.