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The KLH R5100 only supports standard definition.
You would connect either composite (yellow) or S-video to the "Sat" connection on the rear of the receiver. For audio you would connect a stereo (red/white) analog connection to the same "Sat" connection.
From your description you have bad connections on the display board, or intermittent power feed from the main board, it will take somebody that is handy with a soldering iron or a professional to check it out.
could be 2 things....
1) The receiver could be set to feed the right speaker with more volume. Check the volume setting for each individual speaker on the receiver.
2) The cable connecting the left input from your dvd player is not connected properly or is bad. Try swapping the left and right audio input cables to see if this moves the problem to the other side. If it does - get a new cable.
Depending on the watts on your stereo would tell you the most, for example say its 300 watts u buy a 150 watt speaker it would blow the speaker, if you buy a 500 watt speaker your risking frying the stereo, it be best too even it out as best you can, i know that this has nothing to do with what ur asking but it would help you to save more money on buying a new speakers or receiver, now to the answer to you question, i would recommend a 12inch speaker, it would give you good sound quality