Abstract: The present invention provides an electronic commutator circuit for use with a stator winding of an electrical machine. The stator winding of the electrical machine includes a number of coils linked by the same number of points of common coupling. The electronic commutator circuit comprising the same number of switching stages, each switching stage being connected between a respective one of the points of common coupling and first and second dc terminals. Each switching stage further includes a first reverse blocking semiconductor power device (such as a Reverse Blocking Gate Turn Off Thyristor (RB-GTO 1) capable of being turned on and off by gate control having its anode connected to the first dc terminal, and a second reverse blocking semiconductor power device (RB-GTO 2) capable of being turned on and off by gate control having its cathode connected to the second dc terminal.

Abstract: An improved stator (28) for rotating electrical machines with single-layer stator windings consisting of a plurality of pre-formed coils (22) of equal angular pitch. The stator (28) has a first cylindrical surface in which a plurality of circumferentially spaced winding slots (30) are formed and in which the axially-extending winding runs (24) of the pre-formed coils (22) are positioned. The two winding runs (24) of each coil (22) will each be positioned in a winding slot (30) and the two winding slots (30) that receive the coil (22) define a winding slot pair. The improvement arises from the fact that the winding slots (30) of each winding slot pair extend into the stator (28) in substantially parallel directions. This means that the axially-extending winding runs (24) of each pre-formed coil (22) may also be substantially parallel and need not be angled towards each other.

Abstract: Dynamic positioning of a vessel 10 connected to the seafloor 14 by a riser 12 utilizes a measurement of riser 12 bottom angle combined with a measurement of vessel 10 velocity, optionally obtained from a Doppler log 16. These two signals are combined to produce a single position estimate using an algorithm such as a Kalman filter. Using riser bottom angle only would result in an unstable control system, since the bottom angle lags the vessel motion by a considerable amount and the relationship is non-linear. Using the velocity measurement alone would result in a slow drift of position. The combination of the two eliminates the disadvantages of the individual measurements.