page 



Figures. Contractor's analytical model of MCLS 4 



Figure 6. Response ratio for 40,000-pound load and 6,000-foot wire, showing effect of 



accumulator size 5 



Figure 7. Response ratio for 40,000-pound load and 6,000-fooc wire at 5% rate, showing 



effect of load damping (Dj^ ) 6 



Figures. Response ratio for 6,000-foot wire at 5% rate, showing effect of mass/weight ratio ... 7 



Figure 9. Response ratio for 40,000-pound load and 6,000-foot length at 5% rate, comparing 



nylon rope versus wire cable 8 



Figure 10. Response ratio of nylon rope, showing effect of length 9 



Figure 1 1 . Force-to-amplitude ratio for 6,000-foot length of wire cable with 40,000-pound 



load, showing effect of accumulator size 10 



Figure 12. Force-to-amplitude ratio for 6,000-foot length of nylon rope with 40,000-pound 



load, 5% accumulator size 11 



Figure 13. Motion-compensating lift system. Motion-compensating/traction unit (left); 



cable-storage reel (right) 12 



Figure 14. Motion-compensating/traction unit 13 



Figure 15. Line-storage unit 14 



Figure 16. Spring system schematic 15 



F'igure 17. Gas-transfer circuit 16 



F'igure 18. Boom-centering circuit 17 



Figure 19. MCLS control console 19 



Figure 20. MV Gear 21 



Figure 21. MCLS installed on /MV Gt'flr 21 



Figure 22. Light test payload 22 



Figure 23. Heavy test payload 23 



Figure 24. Shipboard instrumentation 28 



Figure 25. Payload-mounted instrumentation 28 



Figure 26. Flow chart for instrumentation system 29 



LIST OF TABLES 



Table 1. Performance Requirements of Motion-Compensating Lift System 2 



Table 2. Summary of Test Results 25 



