Oflshore loading and unloadhg of cargo vessels and on board cargo relocation during conditions of Sea State 3 or greater have been found to be difficult with existing crane technology due to oscillation of the payload. A new type of crane which uses four actuated cables to control the motion of the payload is presented. The closed chain configuration will intuitively provide more stability with...

This paper studies trajectory generation for a mothership that tows a drogue using a flexible cable. The contributions of this paper include model validation for the towed cable system described by a lumped mass extensible cable using flight data, and optimal trajectory generation for the towed cable system with tension constraints using model predictive control. The optimization problem is for...

This study investigated the activity and distribution of low-frequency earthquakes (LFEs) accompanying the very low frequency earthquakes (VLFEs) in the central and southern Ryukyu Trench. This investigation was based on shortperiod seismometer waveforms obtained by the Japan Meteorological Agency from April 2004 to December 2015. The LFEs were detected using the Envelope Correlation Method, an...

workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎however, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

We propose a novel trench-assisted circular metal nano-slit (CMNS) structure implementable on a fiber platform for the generation of a low-noise cylindrical surface plasmon (CSP) hotspot. We design trench structures based on a multi-pole cancellation method in order that a converging surface plasmon signal is well separated from co-propagating non-confined diffracted light (NCDL) at the hotspot...

Vertical profiles of potential temperature, salinity, and some chemical components were obtained at a trench station (29°05'N, 142°51'E; depth = 9768 m) in the Izu-Ogasawara (Bonin) Trench in 1984 and 1994 to characterize the hadal waters below ∼6000 m depth. We compared portions of both the 1984 and 1994 profiles with nearby data obtained between 1976 and 2013. Results demonstrated that the ha...

This paper addresses the direct geometrico-static analysis of under-constrained cable-driven parallel robots with 3 cables. The task consists in finding all equilibrium configurations of the end-effector when the cable lengths are assigned. An interval-analysis-based procedure is proposed to numerically find the real solutions of the problem for a robot of generic geometry. Three equation sets ...

The direct geometrico-static problem of cable-driven parallel robots with 5 cables is presented. The study provides procedures for the identification of all equilibrium poses of the end-effector when cable lengths are assigned. A leastdegree univariate polynomial in the ideal governing the problem is obtained, thus showing that the latter has 140 solutions in the complex field. By a continuatio...

This paper investigates the effect of metallic sheaths on losses and temperature of medium voltage power cables. Two grounding methods of sheaths, including both ends bonding and single point bonding that causes different situations on cable ampacity, are considered. Electrical losses of cables that are main sources of heat are calculated in both conductor and metallic sheath of the cables. She...

Radioactive waste containing a few grams of plutonium (Pu) was disposed between 1960 and 1968 in trenches at the Little Forest Burial Ground (LFBG), near Sydney, Australia. A water sampling point installed in a former trench has enabled the radionuclide content of trench water and the response of the water level to rainfall to be studied. The trench water contains readily measurable Pu activity...