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There are inputs on the back of the set. If your tv is Sony 51ws510 then it is capable of HD, but you have to have component or DVI cables to connect the tv to the HD device (HD cable box or DVD player).
On your set the component inputs on the back of the tv are video5 and video6 in the middle located in a vertical line (red, green, blue rca video connections with red and white rca audio connections).
You also have a DVI input toward at the top of the input panel (white connector with red and white rca audio connectors).