Abstract: A method for controlling the orientation of a load (18) suspended from a bearing wire (16) about said bearing wire (16), comprising the following steps: a.—providing a winch arrangement (10), comprising; one master winch (32), one slave winch (34) and a winch control system (31), each of said winches (32, 34) having a winch motor (58) and a bi-directional rotational spool (54) with a tagline (40, 42), wherein the winches (32, 34) are placed on the ground, on the crane or on the load, wherein each tagline (40, 42) is provided with attachment means (44, 46) for attachment to the load (18) and for applying a controlled torque to the load (18) about the bearing wire (16), and wherein the control system (31) comprises tension sensor means (48) for determining tagline tension and spool rotation sensor means (50) for determining spool rotation, and wherein the control system (31) is controllably connected to each winch motor (58) for controlling spool rotation, b.

Abstract: An abrasion arrangement is disclosed to abrade a surface of an item, the arrangement comprising a multiple axis robotic arm having at least five axes, an abrading cylinder mounted on the robotic arm and comprising abrasive means which comprise abrasive lamellae of an abrasive sheet, such as abrasive cloth, of which the front side has abrasive properties and which extend substantially radially from an elongated core and means for driving said core to rotate around a longitudinal axis of the core, and control means for controlling the operation of the robotic arm so to control e.g. the position of the abrading cylinder on said surface, the force with which the abrading cylinder is pressed towards said surface and the velocity with which the abrading cylinder is moved with respect to said surface.