Abstract: A method of determining the angular position (?) of a rotor of an N-phase permanent magnet motor (PMM) includes providing a processor having an associated memory, wherein the memory stores an angular position determination (APD) equation or hardware is included implementing the APD equation. The APD equation determines the angular position from N-phase measurements obtained from the stator windings associated with each of the N-phases. A voltage or a current is forced upon the stator terminals of the stator windings for each of the N-phases, a resulting stator current or stator voltage is sensed to provide the N-phase measurements responsive to the forcing of the voltage or current, and the APD equation is used to determine the angular position from the N-phase measurements.

Abstract: A method of determining angular position (A) of a rotor of an N-phase permanent magnet motor (PMM). A processor having an associated stored angular position determination (APD) algorithm is programmed to implement the algorithm to cause an associated motor controller to execute steps including forcing one vector at a time a phase vector set of current or voltage vectors to stator terminals of windings for the N-phases a positive and negative magnitude vector, wherein the vector magnitude is sufficiently small to not move the rotor, and a time duration for the forcing current or voltage vectors is essentially constant. The resulting stator current or voltage levels are measured for each current or voltage vector. An N-dimension current vector or voltage vector is generated from superposition of the resulting stator current levels or resulting stator voltage levels. The N-dimension current vector or voltage vector is used to determine angular position.

Abstract: A method of normalizing phase measurements for a motor using a normalizing phase measurements (NPM) algorithm that a processor implements to cause a motor controller coupled to stator terminals of the phases to execute forcing a set of input current or voltage vectors (set of input vectors) including repeating the forcing after rotating the rotor through a full mechanical cycle to generate resulting current or voltage samples (resulting samples) of non-normalized phase A and phase B waveforms. The magnitude of the input vectors are sufficiently small to not move the rotor. A maximum value (x_max) and a minimum value (x_min) are determined for each of the non-normalized phase A and phase B waveforms. An offset value and normalization scale factor (NSF) are determined from the max and min values. The offsets and NSFs are applied to the non-normalized phase waveforms to generate normalized phase A and phase B waveforms.

Abstract: Muscarinic agonists of the formula (I) with M1 selectivity which are useful as agents for stimulating the cognitive functions of the brain.

Abstract: There is disclosed a compound having the formula or a pharmaceutically acceptable salt thereof, wherein: R1a, R1b and R1c are independently fluorine or hydrogen; R2 is C1 to C12 alkyl being straight or branched chain, saturated or unsaturated, mono-substituted or unsubstituted, said substituents being selected from piperidine, pyrroliding, morpholine, thiomorpholine and cycloalkyl of 3 to 7 carbon atoms; a cycloalkyl of 3 to 9 carbon atoms; a cycloalkyl of 3 to 9 carbon atoms having a C1 to C6 alkyl substituent; a polycycloalkyl of 2 to 3 rings having 7 to 12 carbons; and phenyl or phenyl substituted with halogen, hydroxy, C1 to C6 alkoxy, C1 to C6 alkyl, nitro, methylene dioxy or trifluoromethyl; and R3 is a moiety selected from: (I), (II) or a pyrrolidin-3-yl moiety of the formula (III). The compounds are disclosed for use as muscarinic antagonists with M3 selectivity.