Abstract: The hydro excavation remote dig system provides for a primary and secondary dig tube attachments that permit a vacuum truck to be used for a remote dig setup. Specifically, the attachments include various attachable handles, corrugated tubing that connects to a reinforcement bar device with releasable clamps to maintain the corrugated tubing in an elongated state during use, a debris box with an integrated safety valve, and a dig tip.

Abstract: A wellhead foundation is for one or more subsea wells. The wellhead foundation has a suction foundation provided with a housing with an open bottom and a top which is closable with a top cover, and one or more pipes being attached to the housing and extending from the top of the housing and at least over a substantial part of the vertical extent of the housing towards or beyond the open bottom of the housing inside or outside of the periphery of the housing, and a straight upper portion of each pipe projecting up above the top of the housing and forming an upper well-pipe portion which forms part of a high-pressure barrier in the well. The straight upper pipe portion of each pipe is arranged parallel to the center axis of the housing. A method of establishing a subsea wellhead foundation is described as well.

Abstract: The present disclosure relates to a method for real time monitoring of the current status of a construction site having one or more work machines, wherein a monitoring means installed at least one work machine monitors the environment of the work machine in real time and generates corresponding monitoring data, with the generated monitoring data being transmitted by the monitoring means to at least one processing unit for a real time evaluation of the current construction site status.

Abstract: The invention is directed to a method of strip mining that involves dividing the pit into blocks in a diamond shape arrangement with an angular advancing strike face and removing waste material from each diagonally adjacent block so as to minimize the amount of waste material pushed by dozers and maintain the incline of ramps to gradients of 10% or less so that trucks can take mined ore from the pit.

Abstract: A control system for a construction machine includes an electric lever operating device that outputs a command to a hydraulic actuator, a travel control lever device that outputs a command to a travel device, and a controller that outputs a drive command to a solenoid proportional valve that decompresses hydraulic fluid supplied from a pilot hydraulic source. The control system includes a machine body state judgment part that judges the state of the machine body based on an electric signal from the electric lever operating device and an operation amount of the travel control lever device and a dead zone calculation part that calculates a dead zone for the electric signal from the electric lever operating device based on the state of the machine body.

Abstract: A work vehicle includes a bucket which can perform a tilting operation with a hydraulic oil, a valve adjusting a flow rate of the hydraulic oil having the bucket perform the tilting operation, an electromagnetic proportional control valve generating a pilot pressure guided to the valve, a controller outputting a current to the electromagnetic proportional control valve, and a first sensor for detecting the tilting operation. The controller detects a horizontal state of the bucket based on an output from the first sensor. The controller adjusts a value for the current output to the electromagnetic proportional control valve after the horizontal state of the bucket is detected, and starts calibration of data for predicting an operation speed of the bucket in the tilting operation.

Abstract: A work vehicle includes a work implement, a valve adjusting a flow rate of a hydraulic oil operating the work implement, an electromagnetic proportional control valve generating a pilot pressure guided to the valve, a controller outputting a current to the electromagnetic proportional control valve, and a sensor for detecting an operation of the work implement. The controller increases stepwise a current value of a current output to the electromagnetic proportional control valve by repeating processing for temporarily lowering a current value of the current output to the electromagnetic proportional control valve and thereafter outputting to the electromagnetic proportional control valve, a current having a current value greater than the current value before lowering. The controller calibrates data for predicting an operation speed of the work implement based on a result of detection by the sensor at the time when the current value is increased stepwise.

Abstract: A system and method to provide water and sediment flow through a dam or rock jetty, including a plurality of flow pipes positioned through the dam or jetty to receive water carrying sediment and a principal flow pipe to receive flow from the plurality of flow pipes and to deposit water and sediment a predetermined distance to the rear of the dam or jetty. A continuous trough may be mounted on the jetty forward face to efficiently capture water and sediment at entrances of the plurality of flow pipes. A system and method is also provided to suppress wave action against a shoreline and to collect sediment to build up the shoreline, comprising shelves extending out from a front wall of each body section, below a plurality of flow pipes, the shelves for shearing a wave and dispersing and using wave energy to direct sediment through the flow pipes.

Abstract: The present invention relates to an open pit mining system. The system includes a material lifting machine configured to both: (1) excavate and remove overburden from an open pit of a mine; and (2) excavate and remove valuable material from the open pit. Advantageously, the machine removes the overburden waste material as well as the mined valuable material which would otherwise be conventionally removed by trucks in the pit, out of the pit up the ramps and then onto the processing plant. Accordingly, the use of trucks for transporting valuable material both along and up out of the pit is at least to some extent reduced thereby resulting in improved cost and energy efficiency.

Abstract: A subsurface mining vehicle and a method are used for collecting mineral deposits from a sea bed at great depths and transporting the deposits to a floating vessel. The vehicle has a load-bearing structure having an arrangement for advancing the vehicle on the sea bed, and a pick-up unit for the deposits. A lifting frame is also provided and at one end equipped with a connector to connect to a suspension cable provided between the floating vessel and the vehicle. The lifting frame is at another end connected to the load-bearing structure by a hinged connection, that is actuated by an actuator such that the angular position of the load-bearing structure can be fixed in a number of different angular positions relative to the lifting frame while the vehicle is suspended. The lifting frame allows to launch and position the submarine vehicle in a controlled manner.

Abstract: A mining shovel including a base, a boom, a first member moveably coupled to the boom, a bucket, and a pivot actuator. The base includes a hoist drum for paying out and reeling in a hoist rope. The boom includes a first end coupled to the base and a second end opposite the first end. The hoist rope extends over the second end of the boom. The first member includes a first end and a second end. The bucket is pivotably coupled to the second end of the first member. The pivot actuator moves the bucket relative to the second end of the first member, and the pivot actuator includes a first end coupled to the first member.

Abstract: A method for controlling an earthmoving machine and a work implement associated with the earth moving machine is disclosed. The method includes receiving positioning signals from a positioning system associated with the earthmoving machine, the positioning signals indicative of a topography of the work surface. The method further includes determining a profile of the work surface based on the positioning signals and determining if the profile of the work surface includes a bump, the bump having a bump height which is greater than an expected surface height. The method further includes determining a depth adjustment based on the bump height and adjusting the target depth based on the depth adjustment, if the profile of the work surface includes the bump.

Abstract: A mining shovel adapted to dig a bank of material includes a boom having an end, a hoist rope extending over the end of the boom, an elongated member movably coupled to the boom, a dipper for engaging the bank of material, a bail assembly, and a pitch brace. The member includes a first end and a second end. The dipper is coupled to the second end of the member and includes a digging edge. The bail assembly includes a first end pivotably coupled to the dipper and a second end coupled to the hoist rope passing over the boom. The pitch brace includes a first end pivotably coupled to the bail assembly and a second end pivotably coupled to the member.

Abstract: A system for seafloor mining. A seafloor auxiliary mining tool works a seafloor site to prepare a bench, and deposits cut ore in a gathering area. A seafloor bulk mining tool undertakes production cutting of a bench and deposits cut ore in a gathering area. A seafloor gathering machine gathers cut ore deposited in the gathering area and pumps gathered ore as a slurry to a riser base. A riser and lifting system receives slurry from the gathering machine and lifts the slurry to the surface. A surface vessel receives slurry from the riser and lifting system.

Abstract: Systems, methods and devices for converting existing ice resurfacers to reuse collected ice and snow for further ice resurfacing. The systems, methods and devices allows for efficient, clean and environmental friendly ice resurfacing. The conversion includes the modification and/or replacement of the snow dump tank, main water tank and the installing of heating and power systems. This invention is designed for present machines and for incorporation into future manufacturing of ice resurfacers. While reducing the requirement for large amounts of fresh water, the surface water being pre-heated by two commercial hot water tanks, it also reduces the amount of labour and costs associated with ice resurfacing.

Abstract: A mining shovel including a base, a boom, a first member moveably coupled to the boom, a bucket, and a pivot actuator. The base includes a hoist drum for paying out and reeling in a hoist rope. The boom includes a first end coupled to the base and a second end opposite the first end. The hoist rope extends over the second end of the boom. The first member includes a first end and a second end. The bucket is pivotably coupled to the second end of the first member. The pivot actuator moves the bucket relative to the second end of the first member, and the pivot actuator includes a first end coupled to the first member.

Abstract: The coupler is mounted on the end of the boom of a boom-tractor, and provides secure locking-in of a bucket. The coupler having been set to its latched-open condition, the tractor is driven to the bucket so that a bottom-lug of the bucket enters the coupler, whereupon the bucket is picked up and is automatically securely locked into coupler, without any manipulation of the coupler being required of the tractor-driver other than manipulation of the boom. For setting the bucket down on the ground, after use, the driver manually pulls out a slider of the coupler. That action sets the coupler into its slider-held condition, whereby when the tractor is driven away from the bucket, the coupler is automatically left set in the said latched-open condition.

Abstract: An attachment is provided for us on an articulated boom of an excavator in order to excavate earth from beneath a buried pipeline or other utility. The attachment features at least one working arm pivotally mounted to a base plate for movement relative to the base plate about an axis passing therethrough. A working end of the arm is thereby movable between a retracted position overlying the base plate and a deployed position reaching laterally outward from an edge of the base plate. With the excavator facing in a longitudinal direction of the utility, and the attachment carried beside the utility at a short depth therebelow by the boom of the excavator, the arm can be deployed and retracted in order to sweep material out from under the pipeline and onto the base plate. The material is then lifted to the surface by raising of the excavator boom.

Abstract: A cutting blade includes a blade body with one or more cutting elements positioned along its periphery. The elements preferably are keyed to the blade, to help provide secure mounting onto the blade, and include a poly-chrystalized diamond cutting surface.

Abstract: A system is provided for monitoring system and operational parameters on one or more pieces of machinery or equipment. The system can monitor the pieces of machinery or equipment in real time, i.e., the time delay between the taking of a measurement on a piece of equipment and its subsequent display in the system is within accepted standards, e.g., from about 1 second to about 1 minute depending on the type of measurement or data set being monitored. The system can also permit the tracking of the pieces of machinery or equipment and can enable the transfer, i.e., the sending and/or receiving, of information between the system and the pieces of machinery or equipment.

Abstract: A pump apparatus comprises a primary pump having a relatively low pressure fluid input and a relatively high pressure fluid output and means, associated with said primary pump fluid input, operable where the ambient pressure is insufficient substantially to prevent cavitation in the primary pump, to locally increase the pressure at said primary pump fluid input

Abstract: An excavation control system includes a working unit having a bucket, a designed landform data storage part storing designed landform data, a bucket position data generation part that generates bucket position data, a designed surface data generation part, and an excavation limit control part. The designed surface data generation part generates superior and subordinate designed surface data based on the designed landform and bucket position data. The superior designed surface data indicates a superior designed surface corresponding to a prescribed position on the bucket. The subordinate designed surface data indicates a plurality of subordinate designed surfaces linked to the superior designed surface. The designed surface data generation part generates shape data based on the superior and subordinate designed surface data. The shape data indicates shapes of the superior designed surface and the plurality of subordinate designed surfaces.

Abstract: A system for uncovering and sealing a narrow trench. The system comprises several subsystems, including a work machine, a frame for providing a seal with the surface to be trenched, a saw blade, a vacuum system, a system for placing product, and a resealer. The blade includes rotatable tooth bits, which may be rotated and secured to create a blade for narrower or a wider trench. A removable cover and the blade are easily changeable. A surface engaging member on the frame is manipulated to maintain a seal with changing ground surfaces. Additionally, the vertical location of the blade within the frame is adjustable to create a deeper or shallower trench.

Abstract: Decades of research and development have been invested in various forms of railguns, coilguns and mass drivers. See http://settlement.arc.nasa.gov/75SummerStudy/Table_of Contents1.html Research at the Space Studies Institute in the 1980s refined the mass driver concept. See http://ssi.org/introduction-to-research/research-report/# mass-driver-iii The innovation of the Electromagnetic Regolith Excavator is to eliminate the use of a bucket or other container that is accelerated by the magnetic fields. Instead, magnetic particles in the regolith itself (nickel-iron grains and/or magnetite) are put into motion and they carry along with them a to-be-determined fraction (perhaps all) of the co-resident non-magnetic regolith particles. The Electromagnetic Regolith Excavator applies only attractive forces: no anchoring is required. This enables robotic and crewed spacecraft to safely collect surface material from asteroid targets that may be tumbling.

Abstract: A trench cutting apparatus comprises a main body portion, ground contacting conveying means on which the body portion is mounted and by which the apparatus can traverse the ground and at least one soil cutting device operable to cut a trench wherein the attitude of the soil cutting device is adjustable between a first use configuration configured for cutting a linear trench portion and a second use position configured for cutting a curved trench portion, said second use position being selected to minimise undercutting of a trench wall as said curved trench portion is formed.

Abstract: Apparatus for extended-reach remediation of a pond by removal of pumpable materials such as deposited sediment has a base and a rotatable multi-articulated boom to which a pump is connected at the distal end. The boom has a reach which exceeds the reach of conventional remediation apparatus and may be as long as 50 m or greater for reaching over obstacles between the base and the pond. The base can be stationary or it can be mobile or self-propelled for repositioning the apparatus about the perimeter of the water body or to platforms which are built within the pond and accessible by accessways when the pond is filled with water. The pump is lightweight so as not to affect the overall apparatus stability when the boom is fully extended. Geo-locating apparatus assists with mapping the remediation operation.

Abstract: A system for the removal of material from a roadbed includes a movable vehicle equipped with a cutting plate having a cutting edge for scraping material from the roadbed to thereby form debris material. A first conveyor system for conveying the debris material away from the cutting edge is placed above the cutting plate and delivers the debris material to a second conveyor system which deposits the debris material laterally from a distal end of the second conveyor to a location remote from the movable vehicle.

Abstract: The present invention provides a system and method to efficiently and effectively dredge in the presence of hard rock. An additional aspect of the present invention is to provide a system that induces cavitation bubbles and/or a vortex flow within a dredging cutter head by use of water jets mounted within a cavity of the cutter head. The cavitation bubbles and/or vortex flow produced by the water jets urge comminution of hard rock encountered during dredging operations, providing a more effective and efficient dredging of waterways than conventional approaches.

Abstract: Disclosed is a particulate-handling bucket assembly that provides a sound seal between an extended lip section and an extended cavity section located on opposing scoops of the bucket assembly. The seal is formed by abutting elastomeric material located within a cavity of the extended cavity section against an abutting end of the extended lip section. The elastomeric material has an exposed edge which butts against the abutting end of the extended lip section, with the exposed edge having an exposed height that is greater than or equal to an abutting height of the abutting end of the extended lip section.

Abstract: A method of recovering a deposit from the sea bed using a surface vessel (20) untethered from the sea bed and first and second suction vehicles (27; 30) which traverse the sea bed to suck up the deposit and are each connected to the surface vessel by a respective flexible riser (26; 29) along which a slurry of the deposit is transferred from the suction vehicles to the surface vessel. The method comprises moving the first and second suction vehicles to and fro across the sea bed in a plurality of lanes such that they travel substantially further than the surface vessel, turning or reversing each vehicle at the end of each lane in a manner such that the lanes are adjacent to one another to mine the deposit substantially without gaps between adjacent lanes. Only the suction vessels rest on the sea bed.

Abstract: An actuator system for a machine includes a hydraulic actuator connected to a dipper of the machine, and a hydraulic system fluidly connected to the actuator and configured to selectively direct fluid to the actuator. A component of the hydraulic system is mounted on the dipper. The system also includes an overcenter link coupled to a door of the dipper and biased to maintain the door in a closed position. The actuator is operable to move the overcenter link in a first direction, thereby transitioning the door from the closed position to an open position.

Abstract: A drag head (100) for dredging material (2) from the bed (3) of a body of water and transporting the material (2) to a suction tube (120). The drag head (100) is arranged to be dragged over the bed (3) in a dragging direction (D). The drag head (100) includes a suction section (110) in which an under pressure can be created to suck up the material (2) from the bed (3) through a suction opening (113) into a suction chamber (112). A heel section (111) guides the drag head (100) along the bed (3). The suction section (110) is preferably rotatably connected to the heel section (111). The suction section (110) also includes an outlet (114) for transporting the material (2) towards the suction tube (120).

Abstract: A BAS plow creates a V-trench along the linear route of a pipeline path and an instrumented bottle moving with the BAS plow collects BAS data indicative of the pitch, roll, heading, yaw, three dimensional positioning, speed and depth of the chassis, the shearing force applied to the seabed material and the applied tow force. The bottle can be swapped to collect the acquired data or an umbilical can be used to provide a real time stream of data. The Bas plow can simultaneously backfill the created trench, leaving an undisrupted seabed, or the pipeline can be laid in the BAS trench, which can also be made deeper and wider by additional trench cutting passes, significantly reducing the total time required for combined BAS and pipeline laying processes. The BAS plow can be released and retrieved over-the-stem of a towing vessel.

Abstract: A hydraulic management system and method are provided that account for auxiliary work tool usage. The hydraulic management system automatically calculates an effective use time of a hydraulic element, such as a hydraulic fluid or hydraulic filters, by multiplying work tool usage by a desired gain factor, where the gain factor may exceed 1 for auxiliary work tools.

Abstract: A seabed plow capable of over-the-stern release and retrieval is usable in any of boulder clearing, trench cutting and backfill modes. In its boulder clearing mode, the plow uses its skid in torquing configuration followed by moldboards to push boulders out of the path to be trenched. In the trench cutting mode, the plow uses the skid in the same configuration with its share and moldboards for initial trench depth and the same share and moldboards with moldboard extensions for increasing trench depth in subsequent passes. In the backfill mode, the plow uses its skid in trench-straddling configuration following a blade with a passage designed to discharge fragmented spoil directly onto the pipe being covered. Thus, a single plow can be reconfigured for all modes for release and retrieval to and from a relatively small vessel without use of heavy lifting equipment.

Abstract: The present invention is directed to a machine for filling a trench. The machine comprises a tub, release assembly, and a hopper. The tub mixes a material to be filled into the trench. The release assembly releases the material into the hopper and the material flows from the hopper and into the trench. The machine moves parallel to the trench as the trench is being filled. An operator controls the movement of the machine from an operator station on the machine.

Abstract: An excavation system employing a high-pressure pulsed air jet in combination with a low-pressure high velocity blower for excavating improvised explosive devices or other buried objects. The excavation system may also be employed to operate a pneumatic tool such as a cut-off tool or a chisel. The high velocity blower may incorporate a bifurcated fan duct having two air outlets. The system may include a pressure control module for regulating the from a high-pressure air source to an evacuation valve. The evacuation valve employs first and second valves where the second valve controls the operation of the first valve.

Abstract: An excavation system employing a high-pressure pulsed air jet in combination with a low-pressure high velocity blower for excavating improvised explosive devices or other buried objects. The excavation system may also be employed to operate a pneumatic tool such as a cut-off tool or a chisel. The high velocity blower may incorporate a bifurcated fan duct having two air outlets. The system may include a pressure control module for regulating the from a high-pressure air source to an evacuation valve. The evacuation valve employs first and second valves where the second valve controls the operation of the first valve.

Abstract: The device of the disclosure comprises an assembly (22) for collecting material on the bed (12) of a body of water (14), a riser (48) for lifting the solid material, and a pump (90) for lifting the solid material collected by the collection assembly (22) in the riser (48) towards the surface facility (26). The device also comprises a separator (42) for generating a stream having a high content of solid material and a stream having a low content of solid material, the separator (42) including a lower outlet (76) for discharging the stream with high content of solid material. The device comprises an upstream hose (40) connecting the collection assembly (22) to the separator (42), and an intermediate pipe (44) connecting the or each discharge outlet (76) of the stream with high content of solid material to the riser (48), the delivery outlet (100) of the pump being tapped into the intermediate pipe (44).

Abstract: A system and method to excavate using a pneumatic shock wave is disclosed. The system includes a supply of pressurized fluid, a suction wand, and an air line in communication with the supply of pressurized fluid. A portion of the air line is integrated within the suction wand. The system also includes a dump valve interposed between the supply of pressurized fluid and the portion of the air line integrated within the suction wand. The dump valve is configured to rapidly discharge a pulse of the pressurized fluid out an open end of the air line to generate a shock wave at a distal end of the suction wand to fracture and dislodge soil so that the suction wand can excavate the soil.

Abstract: The invention relates to a cutting wheel for a trench cutter with a drum-like base body, on the outer periphery of which stationary holders are arranged in at least one peripheral row, in which cutting tools for removing ground are received. In the at least one peripheral row chisels with a substantially pointed removal tip and also cutting teeth with a substantially linear cutting edge are arranged as cutting tools. The invention also relates to a method for making a trench in the ground.

Abstract: A dredging apparatus is described for removing sediments from a bed of an expanse of water, comprising: a suction apparatus including a) a submersible pump including: a housing body provided with an inlet mouth and with a discharge opening and an impeller rotatably supported in the body between the inlet mouth and the discharge opening and rotatably driven by a respective driving device; and b) a suction head associated to the inlet mouth of the housing body of the pump and provided at the bottom with a suction opening of the sediments; wherein the suction opening of the head has a value of the cross-section area dimensioned to achieve in the working range of the pump a suction speed capable of removing the sediments by means of the fluid dynamics removal action carried out by the water sucked into the head. The invention also describes a dredging method which may be carried out by means of such an apparatus.

Abstract: A system and method to excavate using a vacuum hose is disclosed. The system includes a suction wand handle, where a first end of the suction wand handle is adapted to be secured to a suction hose and a first and second grip project from opposing sides of the suction wand handle are adapted for a user to grasp. In addition, a suction wand is secured to a second end of the suction wand handle, where the suction wand includes an open end. An air line is secured to the suction wand, where a first end of the air line is adapted to be in communication with a pressurized air source and the second end terminates in at least one air nozzle at the open end of the suction wand.

Abstract: A system for seafloor mining. A seafloor auxiliary mining tool works a seafloor site to prepare a bench, and deposits cut ore in a gathering area. A seafloor bulk mining tool undertakes production cutting of a bench and deposits cut ore in a gathering area. A seafloor gathering machine gathers cut ore deposited in the gathering area and pumps gathered ore as a slurry to a riser base. A riser and lifting system receives slurry from the gathering machine and lifts the slurry to the surface. A surface vessel receives slurry from the riser and lifting system.

Abstract: A seafloor bulk mining tool for production cutting of a seafloor bench. The tool uses a tracked locomotion system to travel across a seafloor bench. Power and control interfaces receive power and control signals from a surface source. The tool has a drum cutter for cutting the bench, and a sizing grill adjacent the drum cutter for sizing cuttings as they are produced by the drum cutter. A drum shroud may also be provided to help contain cuttings. A suction inlet can be used to capture cuttings as they are produced, for example in conjunction with a spade and augers.

Abstract: An apparatus, method, and system for recovering oil from a submerged oil source, wherein the system includes a submerged conduit having at least two openings, with a first opening capable of being located in proximity of a leak in order to capture leaking oil, and with a second opening capable of communicating captured leaking oil to another location. A natural gas separator, coupled to the submerged conduit separates the boiling vapor phase natural gas from the captured oil thereby outputting oil with water contaminant. An oil/water separator coupled to the natural gas separator then separates out the contaminant water, resulting in a processed recovered oil product for storage and subsequent refinement. The flow to capture the leak is induced by generating a lower pressure at nozzle in the conduit via power jet, air lift, pumping of fluid out of conduit close to sea level, or other methods.

Abstract: Systems, methods, devices, and computer readable media for controlling a digging operation of an industrial machine. A method includes determining a hoist bail pull associated with the industrial machine, determining a crowd torque limit value for a crowd drive based on the determined hoist bail pull of the industrial machine, and setting a crowd torque limit of the crowd drive to the crowd torque limit value to limit a torque associated with a crowd motor to the crowd torque limit value.

Abstract: Described herein are tools, systems, and methods for trimming a soil face.

Abstract: The invention relates to a trench wall cutter for producing a trench in the ground having a cutter frame and at least one cutting wheel which is supported in a rotatable manner about an axis of rotation on the cutter frame and has at its outer circumference a plurality of ground working tools for removing ground material. The ground working tools are arranged along an annular path around the axis of rotation. Provision is made for the annular path to run asymmetrically to the axis of rotation of the cutting wheel, wherein the annular path has at least one first circumferential section with a larger distance from the axis of rotation and at least one second circumferential section with a smaller distance from the axis of rotation. The invention furthermore relates to a method for producing a trench in the ground.

Abstract: Systems and methods, etc., to improve operations where a barrier could interfere with the tag line of a clam shell dredging bucket suspended from a crane and/or the z-axis elevation of the bucket needs to be closely determined. The systems include an elongate rigid link connecting a suspended implement such as the bucket to a holding wire hanging from the crane. The elongate rigid link can further comprise at least one anti-rotation connection element located at an upper portion of the link to attach to the tag line for horizontal/rotational control, and/or comprise at least one z-axis calibration device configured to identify a z-axis elevation of the link and thereby the suspended element.