Abstract: The present invention shows a crane controller for the semi-automatic control of a rotary crane, the crane comprising at least a slewing actuator for creating a slewing motion of the crane and/or a luffing actuator for creating a luffing motion of the crane, the crane controller comprising an input unit which can be operated by a operator to provide a desired slewing speed and/or a desired luffing speed as an operator input and a model-predictive reference trajectory planning module comprising an optimization unit for calculating a reference trajectory that obeys the system dynamics and follows the operator input, and a feedforward-controller using the reference trajectory for controlling the slewing actuator and/or the luffing actuator. Further, the optimization unit takes into account the deflection of the rope in the tangential and/or radial direction when solving the optimization problem that provides the reference trajectory.

Abstract: The present invention shows a crane controller for the semi-automatic control of a rotary crane, the crane comprising at least a slewing actuator for creating a slewing motion of the crane and/or a luffing actuator for creating a luffing motion of the crane, the crane controller comprising an input unit which can be operated by a operator to provide a desired slewing speed and/or a desired luffing speed as an operator input and a model-predictive reference trajectory planning module comprising an optimization unit for calculating a reference trajectory that obeys the system dynamics and follows the operator input, and a feedforward-controller using the reference trajectory for controlling the slewing actuator and/or the luffing actuator. Further, the optimization unit takes into account the deflection of the rope in the tangential and/or radial direction when solving the optimization problem that provides the reference trajectory.

Abstract: In a Michelson interferometer, two plane mirrors of the mirror unit (50) are embodied as two plane mirrors (51, 52) of different sizes, disposed eccentrically and parallel to one another. A hollow shaft (63), rotatably supported in a bearing block (62) and driven by a drive unit (65), is also provided, which is disposed between a beam splitter and the mirror unit (50) and whose axis of rotation (61) coincides with the axis of rotation of the mirror unit (50). The mirror unit (50) is secured to the hollow shaft (63) in such a way that the axis of rotation (61) of the hollow shaft passes through the mirror face of the smaller plane mirror (51), whose axis of rotation forms an acute angle (.beta.