Abstract: A centrifugal compressor assembly for compressing refrigerant in a 250-ton capacity or larger chiller system comprising a motor, preferably a compact, high energy density motor or permanent magnet motor, for driving a shaft at a range of sustained operating speeds under the control of a variable speed drive. Another embodiment of the centrifugal compressor assembly comprises a mixed flow impeller and a vaneless diffuser sized such that a final stage compressor operates with an optimal specific speed range for targeted combinations of head and capacity, while a non-final stage compressor operates above the optimum specific speed of the final stage compressor. Another embodiment of the centrifugal compressor assembly comprises an integrated inlet flow conditioning assembly to condition flow of refrigerant into an impeller to achieve a target approximately constant angle swirl distribution with minimal guide vane turning.

Abstract: A centrifugal compressor assembly for compressing refrigerant in a 250-ton capacity or larger chiller system comprising a motor, preferably a compact, high energy density motor or permanent magnet motor, for driving a shaft at a range of sustained operating speeds under the control of a variable speed drive. Another embodiment of the centrifugal compressor assembly comprises a mixed flow impeller and a vaneless diffuser sized such that a final stage compressor operates with an optimal specific speed range for targeted combinations of head and capacity, while a non-final stage compressor operates above the optimum specific speed of the final stage compressor. Another embodiment of the centrifugal compressor assembly comprises an integrated inlet flow conditioning assembly to condition flow of refrigerant into an impeller to achieve a target approximately constant angle swirl distribution with minimal guide vane turning.

Abstract: A centrifugal compressor assembly for compressing refrigerant in a 250-ton capacity or larger chiller system comprising a motor, preferably a compact, high energy density motor or permanent magnet motor, for driving a shaft at a range of sustained operating speeds under the control of a variable speed drive. Another embodiment of the centrifugal compressor assembly comprises a mixed flow impeller and a vaneless diffuser sized such that a final stage compressor operates with an optimal specific speed range for targeted combinations of head and capacity, while a non-final stage compressor operates above the optimum specific speed of the final stage compressor.

Abstract: A system and related method for the detection of low power broadband signal sources in a high noise environment. The system uses multiple collinear arrays of sensors to receive data signals. The sensor-to-sensor spacing within the arrays is greater than one-half the wavelength of the center frequency associated with the broadband spectrum of interest. The signals are processed using nonlinear spectral estimation to remove periodic signals from the data signals to obtain broadband data. A cross correlation matrix is formed from the broadband data. Nonlinear spectral estimation is applied to the cross correlation matrix to determine the angular direction of the low power broadband signal sources with respect to the arrays.

Abstract: An automated system for identifying nuclear power plant components includes a camera which provides an input signal from an image of the nuclear power plant components. A digitizer generates a digitized image of the nuclear power plant components from the input signal. A workstation locator routine locates the component identifier of the nuclear power plant components from pixel elements of the digitized image and a workstation determining routine determines the component identifier. The determining routine includes plural recognizer routines each having an output providing an intermediate recognition of the component identifier, and a combining routine combining the outputs of the recognizer routines to recognize the component identifier. Each of the outputs includes an intermediate identifier and a corresponding confidence value.

Abstract: A method and apparatus for classifying objects in images utilize means for selecting portions of those images which contain objects and means for classifying those objects based upon parameters of the selected portions, which parameters are useful for classifying the objects. The selecting means preferably is a shadow and highlight detector, a statistical window detector and a neural network window detector whose output is combined in a combined cuer. The parameters are determined from the greylevels and positions of pixels using one or more modules which perform certain mathematical operations on this data. Such parameters include edge parameters, smoothness, clutter, presence and characteristics of highlights and shadows, and texture. The invention is particularly useful for classifying objects in sonar images as natural or man-made.

Abstract: A method for eliminating false detections at the water column boundary in side scan sonar images is provided. Each image is filtered by computing the median greylevel value of a pixel and its four adjacent pixels to produce a median image. The median image is filtered with a first linear filter to produce an edge image. The edge image is then filtered with a second linear filter to produce an edge-smoothed image. The edge of the image is detected by searching each row of the edge-smoothed image for the maximum greylevel. A transition region is defined between the detected edge and a preselected right boundary and the average greylevels over the rows and columns in this transition region is computed. The sonar image is then normalized by computing the image mean grayness level of each pixel in the image.

Abstract: An automatic method for finding mines in side scan sonar images using a two-stage detection/discrimination process is provided. This method improves the discrimination process by specialized processing of regions of interest found in the detection process to increase the probability of correctly identifying highlight and shadow regions associated with mine images. Features specifically selected for their ability to discriminate mines are then extracted from these areas for use in the Bayesian discriminator.

Abstract: The invention is a method and apparatus in which student EEG measurements are made during the videotaped presentation of training materials. Alpha (8-12 Hz) and beta (16-24 Hz) activity present during segments of the material directed to a learning objective are used to determine attention and cognitive activity during the training material. An increased level of attention relates to increased understanding of the material. An increased level of cognitive activity relate directly to incorrect understanding of the material. Evoked potential responses are also measured in response to multiple choice questions on the learning objections presented subsequent to the training materials. A difference between midterm responses for correct and incorrect answers measures correct understanding of the subject matter of the multiple choice question. Comparing the alpha, beta and evoked potential results for a learning objective validates the indication of effectiveness if the results correlate.

Abstract: A method of locating objects in sonar images so that matching algorithms can be used to determine if the same objects appear in two images. Information from the matching algorithms can then be used to upgrade the position of the vehicle and objects recorded in the vehicle's navigation system. Images are improved by normalizing brightness and contrast and then convolving the image with at least one filter. The image is normalized by dividing the image into vertical strips, creating a histogram to represent the grayness values for columns of pixels in each strip and applying an algorithm to each strip to change its grayness value.

Abstract: In a robotic assembly system including a robotic device composed of a base member, a plurality of movable members and joint mechanisms coupling the members in a sequence extending from the base member such that a first one of the movable members is supported by the base member and is rotatable relative to the base member about a respective axis and each of the other movable members is supported by, and rotatable about a respective axis relative to, a respective preceding movable member in the sequence, with the last movable member in the sequence being an end member for supporting a workpiece which is to be brought to a selected position relative to a fixed body by movement along a reference plane associated with the body, the selected position corresponding to a set of reference angular positions each of which defines an angular position of a respective movable member about the respective axis thereof, the joint mechanisms are controlled by a computer system coupled thereto in such a manner that one of the m

Abstract: Disclosed are methods and apparatus for the control of dynamic systems, more particularly complex dynamic systems and especially those systems exhibiting minimum phase behavior. The method utilizes observer theory to estimate the state variables of the system. Based in part upon the estimated values of the state variables, a pseudo or compensated output for the system is generated. This compensated output represents the steady state asymptote of the actual system output without the unstable or transient system responses. The actual outputs are then controlled by controlling the compensated output.According to another embodiment, a bounded output may also be generated from the state variable estimates. This bounded output represents the minimum and/or maximum excursion that the actual output takes in its approach to the steady state value represented by the compensated output.

Abstract: Protective relay apparatus and method for determining the faulted phase conductor of a three-phase ac electrical transmission line. The voltage and current on each conductor are measured and the steady-state ac electric power signal removed. The resulting filtered-voltage signals are multiplied by the characteristic admittance of the transmission line and then combined with the filtered-current signals to produce three current signals representative of the current on each conductor caused by an incident traveling wave and three current signals representative of the current on each conductor caused by a forward traveling wave. A comparator compares the six current signals to provide an indication of the direction to the fault and to provide an enable signal when the fault is on the protected line segment. The three incident-wave current signals are filtered to provide a modal signal representing the total current produced on the transmission line by a first propagational mode of the incident traveling wave.

Abstract: Diagnostic apparatus for monitoring a system subject to malfunctions. Estimates are obtained relating normal system operation to operating variables. Estimates are additionally obtained relating specific malfunctions to specific variables. The variables are combined in accordance with predetermined functions to get an indication of a particular malfunction. This indication is modified by a factor related to the normal operation of the system to yield a probability of the occurrence of the malfunction, and which probability is limited to a value less than 100%.

Abstract: A distribution network power line communication system which includes coupling means for applying a carrier current communication signal to the polyphase primary distribution conductors with a proportional relationship between the signal voltages applied to the various conductors selected to provide a predetermined propagation mode. Impedance elements are connected between the conductors at selected points remote from the coupling point, such as at the location of unbalanced loads, line taps, branches, capacitor banks, distribution transformers, and other line discontinuities which may cause mode conversion. The impedance elements are selected and connected to re-establish the predetermined propagation mode.