In this paper, the authors present the CIRUS robot. This automatic system uses a combination of pulse-echo and pitch and catch ultrasonic strategies for the inspection of the welded area of mooring chain links in an automatic ...

In this paper, an active/passive reconfigurable 2R joint is presented. Direct and inverse kinematic problems and the force transmission are considered. The advantages of the current design show its superiority with respect ...

This paper analyses the numerical outcome of applying three different well-known mooring design approaches to a floating wave energy converter, moored by means of four catenary lines. The approaches include: a linearized ...