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Distortion compensation controller reduces harmonic distortion in an AC circuit current and/or voltage of a power converter bridge operating under digital current and/or voltage control. Within distortion compensation controller, an array of memory locations are used, each corresponding to a particu

Distortion compensation controller reduces harmonic distortion in an AC circuit current and/or voltage of a power converter bridge operating under digital current and/or voltage control. Within distortion compensation controller, an array of memory locations are used, each corresponding to a particular angle range in the AC cycle. Enough memory locations are allocated to cover all of the AC cycle. For each of these memory locations, historical information is collected over a number of AC cycles about the distortion measured during the corresponding angle range in the AC cycle. Using the historical information, a compensation signal is calculated for use at that angle in the next AC cycle. As the AC cycle progresses, the appropriate compensation signal is added to the output of a conventional current controller. In this way, a near perfect sinusoid can be achieved in the steady state for the current/voltage waveform in the AC circuit.

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Distortion compensation controller reduces harmonic distortion in an AC circuit current and/or voltage of a power converter bridge operating under digital current and/or voltage control. Within distortion compensation controller, an array of memory locations are used, each corresponding to a particu

Distortion compensation controller reduces harmonic distortion in an AC circuit current and/or voltage of a power converter bridge operating under digital current and/or voltage control. Within distortion compensation controller, an array of memory locations are used, each corresponding to a particular angle range in the AC cycle. Enough memory locations are allocated to cover all of the AC cycle. For each of these memory locations, historical information is collected over a number of AC cycles about the distortion measured during the corresponding angle range in the AC cycle. Using the historical information, a compensation signal is calculated for use at that angle in the next AC cycle. As the AC cycle progresses, the appropriate compensation signal is added to the output of a conventional current controller. In this way, a near perfect sinusoid can be achieved in the steady state for the current/voltage waveform in the AC circuit. mated approach system to access the approach profile, receiving periodic position data of the aircraft, comparing the position data to the approach profile to compute a plurality of deviations each time the position data is received, outputting the plurality of deviations to a display, converting the plurality of deviations into a plurality of control commands, and maneuvering the aircraft in response to the control commands along the flight path. ct. 20. The method of claim 1 wherein paths of two or more shooting vessels are optimized to enable a streamer to maintain a straight path. al waveform; and successively performing the above-defined deriving steps and the providing steps by subtracting steps so as to derive a plurality of sinusoids, each sinusoid of said plurality of sinusoids as derived being orthogonal to the associated residual waveform. riority label in the image sensor data. 11. A method according to claim 10 including: sending a break message to a break control processor when an object in the image data is identified as being within a predetermined range of the mobile vehicle; attaching a logging label to the break command; and assigning a high priority value to a priority label in the break command. 12. A method according to claim 10 including sending an annunciation message to speakers in the mobile vehicle when an object in the image data is identified as being within a predetermined range of the mobile vehicle. 13. A system for a vehicle, comprising: multiple processors in the vehicle operating multiple individual software applications; multiple links connecting the multiple processors together; and the multiple processors in the vehicle each operating a communication system that includes individual priority managers associated with the individual software applications, the individual priority managers attaching priority labels to individual messages transferred between individual software applications in the vehicle, the priority labels used independently by the individual priority managers to determine processing priorities for the individual messages for the individual software applications. 14. A system according to claim 13 including individual communication managers each associated one of the individual software applications operating in the vehicle. 15. A system according to claim 13 including security managers associated with the individual software applications, the security managers each individually preventing data or messages from unauthorized applications in the vehicle from sending data to their associated individual software applications. 16. A system according to claim 13 including individual logging managers each associated with individual software applications, the individual logging managers each controlling when data and messages from the different applications are individually logged by their associated software applications. 17. A system according to claim 13 wherein the priority managers assign priority values to different sensor data messages according to a likelihood of objects identified in the sensor data colliding with the vehicle. 18. A system according to claim 13 wherein the applications include a sensor application, a fusion application; and a break control application. 19. A system according to claim 18 wherein the fusion application receives image data from the sensor application and sends breaking commands to the break control application according to the image data. 20. A system according to claim 19 wherein the fusion application and the sensor application log the image data or messages according to how close objects in the image data are from the vehicle. 21. A system according to claim 20 including a second sensor application that sends image data to the fusion application. 22. A system according to claim 13 including a display application that displays sensor data from a sensor application according to a security label, logging label and priority label attached to the sensor data by the communication system. 23. A system according to claim 13 wherein some of the multiple links use different communication protocols for transferring messages and data between the different processors. 24. A system according to claim 23 wherein one of the links is a wireless link and another one of the links is a hardwired serial link. 25. A communication system, comprising: a processor adapted to run different individual applications; multiple interfaces adapted to transfer individual messages and data between the different applications over different communication links; and the processor further adapted to run independently operating communication managers associated with the different individual applications, the communication managers attaching communication labels to the individual messages and data transfer red between the different applications, the communication labels uniquely identifying priority values for the individual messages for controlling how the individual messages and data are processed in real-time by the different applications. 26. A communication system according to claim 25 wherein the communication labels are separate from network headers used to transfer the messages and data over the different communication links. 27. A communication system according to claim 26 wherein the communication manager includes a security manager, a logging manager and a priority manager. 28. A communication system according to claim 27 wherein the processor is part of a multiprocessor network used in an automobile. 29. A communication system according to claim 27 wherein the processor is part of a multiprocessor system used in a home or office. 30. A communication system according to claim 27 wherein the processor performs any one of the following applications: image sensing in a car; display control in a car; breaking control in a car; audio control in a car; video control in a car; engine monitoring in a car; airbag deployment in a car; temperature control in a car; or security monitoring in a car. id predetermined surface; a detection specifying means composed of; a detection means for detecting the predetermined colored light beacons produced on said predetermined surface by means of a visual device, and a relative position specifying means for producing relative positional information, which indicates a relative position by specifying the relative position in question defined between the predetermined light beacons that is an object to be detected by said detection means and each of the mobile bodies in accordance with the results detected by said detection means, and transfer control means for controlling the mobile body, target positions of which have been indicated by means of the light beacons derived from said target position instructing means, so as to transfer towards the target positions on the basis of the relative positional information produced by said relative position specifying means. 4. The optical guidance system for at least one or more of mobile bodies as claimed in claim 3, further comprising communication means for communicating with a mobile body which is to be instructed the target positions towards which the mobile body is to be transferred on a predetermined surface. 5. The optical guidance system for at least one or more of mobile bodies as claimed in claim 3, wherein said detection specifying means are mounted on the at least one or more of mobile bodies contained movably in a predetermined environment, respectively. 6. The optical guidance system for at least one or more of mobile bodies as claimed in claim 3, wherein said light beam projecting means is fixed at a predetermined position. 7. The optical guidance system for at least one or more of mobile bodies as claimed in claim 4, wherein said light beam projecting means is fixed at a predetermined position. 8. The optical guidance system for at least one or more of mobile bodies as claimed in claim 5, wherein said light beam projecting means is fixed at a predetermined position. 9. The optical guidance system for at least one or more of mobile bodies as claimed in claim 3, wherein said light beam projecting means is mounted on a mobile body. 10. The optical guidance system for at least one or more of mobile bodies as claimed in claim 4, wherein said light beam projecting means is mounted on a mobile body. 11. The optical guidance system for at least one or more of mobile bodies as claimed in claim 5, wherein said light beam projecting means is mounted on a mobile body. 12. The optical guidance system for at least one or more of mobile bodies as claimed in claim 3, wherein: said light beam projecting means is equipped with a robot manipulator; and said light beam projection control means controls said robot manipulator thereby directing an optical axis of the light beam projected from said light beam projecting means to a desired position in said predetermined surface on which the mobile bodies are to be transferred. 13. The optical guidance system for at least one or more of mobile bodies as claimed in claim 4, wherein said light beam projection control means controls said robot manipulator thereby directing an optical axis of the light beam projected from said light beam projecting means to a desired position in said predetermined surface on which the mobile bodies are to be transferred. 14. The optical guidance system for at least one or more of mobile bodies as claimed in claim 5, wherein: said light beam projecting means is equipped with a robot manipulator; and said light beam projection control means controls said robot manipulator thereby directing an optical axis of the light beam projected from said light beam projecting means to a desired position in said predetermined surface on which the mobile bodies are to be transferred. 15. The optical guidance system for at least one or more of a mobile bodies as claimed in claim 3, wherein said light beam projecting means is hand-held by a human operator. 16. The opti cal guidance system for at least one or more of mobile bodies as claimed in claim 4, wherein said light beam projecting means is hand-held by a human operator. 17. The optical guidance system for at least one or more of a mobile bodies as claimed in claim 5, wherein said light beam projecting means is hand-held by a human operator. 18. The optical guidance system for at least one or more of mobile bodies as claimed in claim 3, wherein said light beam projection control means controls said light beam projecting means on the basis of information obtained through a network. 19. The optical guidance system for at least one or more of mobile bodies as claimed in claim 4, wherein said light beam projection control means controls said light beam projecting means on the basis of information obtained through a network. 20. The optical guidance system for at least one or more of mobile bodies as claimed in claim 5, wherein said light beam projection control means controls said light beam projecting means on the basis of information obtained through a network. 21. The optical guidance system for at least one or more of mobile bodies as claimed in claim 6, wherein said light beam projection control means controls said light beam projecting means on the basis of information obtained through a network. 22. The optical guidance system for at least one or more of mobile bodies as claimed in claim 7, wherein said light beam projection control means controls said light beam projecting means on the basis of information obtained through a network. 23. The optical guidance system for at least one or more of mobile bodies as claimed in claim 8, wherein said light beam projection control means controls said light beam projecting means on the basis of information obtained through a network. 24. The optical guidance system for at least one or more of mobile bodies as claimed in claim 9, wherein said light beam projection control means controls said light beam projecting means on the basis of information obtained through a network. 25. The optical guidance system for at least one or more of mobile bodies as claimed in claim 10, wherein said light beam projection control means controls said light beam projecting means on the basis of information obtained through a network. 26. The optical guidance system for at least one or more of mobile bodies as claimed in claim 11, wherein said light beam projection control means controls said light beam projecting means on the basis of information obtained through a network. 27. The optical guidance system for at least one or more of mobile bodies as claimed in claim 12, wherein said light beam projection control means controls said light beam projecting means on the basis of information obtained through a network. 28. The optical guidance system for at least one or more of mobile bodies as claimed in claim 13, wherein said light beam projection control means controls saud light beam projecting means on the basis of information obtained through a network. 29. The optical guidance system for at least one or more of mobile bodies as claimed in claim 14, wherein said light beam projection control means controls said light beam projecting means on the basis of information obtained through a network. 30. The optical guidance system for at least one or more of mobile bodies as claimed in claim 15, wherein said light beam projection control means controls said light beam projecting means on the basis of information obtained through a network. 31. The optical guidance system for at least one or more of mobile bodies as claimed in claim 16, wherein said light beam projection control means controls said light beam projecting means on the basis of information obtained through a network. 32. The optical guidance system for at least one or more of mobile bodies as claimed in claim 17, wherein said light beam projection control means controls said light beam projecting means on the basis of information obtained through a network . 33. An optical guidance system for at least one or more of mobile bodies contained movably in a predetermined environment comprising: light beam projecting means for projecting a light beam having a predetermined color or other features in a desired region on a predetermined surface on which the mobile bodies are to be transferred to produce the predetermined light beacons in the desired region on said predetermined surface, whereby the target positions towards which the mobile bodies are to be transferred are indicated, said light beam projecting means being held by a human being and an optical axis of the light beam being directed to a desired position in said predetermined surface by means of operations of the human being; communication means for communicating with a mobile body which is to be instructed the target positions towards which the mobile body is to be transferred on a predetermined surface; detection specifying means composed of; detection means for detecting the predetermined light beacons produced on said predetermined surface by means of a visual device, and relative position specifying means for producing relative positional information, which indicates a relative position by specifying the relative position in question defined between the predetermined light beacons that is an object to be detected by said detection means and each of the mobile bodies in accordance with the results detected by said detection means, and transfer control means for controlling the mobile body, target positions of which have been indicated by means of the light beacons derived from a target position instructing means, so as to transfer towards the target positions on the basis of the relative positional information produced by said relative position specifying means. 34. A method for indicating target positions for one or more mobile bodies contained movably in a predetermined environment, comprising: projecting a light beam to produce a light beacon on a surface on which the mobile bodies move, said light beacon is moved to an arbitrary position by moving a direction of said light beam whereby the light beacon indicates an arbitrary target position towards which a mobile body is to move.