A gas filling system (1) includes a gas tank (30); a gas filling device (2) that fills gas into the gas tank (30); and a controller (24) that calculates a temperature increase ΔT and a pressure increase ΔP in the gas tank (30) during a predetermined period of time (t seconds) that elapses from a start of gas filling. The controller (24) selects a filling rate map (Ma, Mb) from a prepared filling rate map group on the basis of the calculated temperature increase ΔT and the calculated pressure increase ΔP. The gas filling device (2) carries out gas filling using the filling rate map selected by the controller (24).

A device, system and/or method for dispensing a fuel additive to a fuel tank that employs a fuel additive delivery device secured to an opening of the fuel tank. The delivery device is fluidly coupled to a fuel additive reservoir. The delivery device includes a cap that automatically opens or closes fluid communication with the fuel additive reservoir. The delivery device also includes a bore defined through the delivery device configured to receive a fuel filler spout with a fuel passageway outlet positioned in the bore such that, as fuel passes through the bore and into the fuel tank, the bore is configured to create a suction at the fuel additive outlet to pull fuel additive from the reservoir, through the delivery device, and into the fuel tank with the fuel.

A funnel has a cylindrical upper first section with a first axial height and a first diameter, a cylindrical lower second section with a second axial height and a second diameter, and a frusto-conical intermediate section coupling the upper and lower sections and having a third axial height. Each of a plurality of similarly configured housings has a hollow cylindrical configuration forming cylindrical chambers, a housing axial height, a housing diameter, an upper end coupled to the intermediate section closer to the second section than to the first section, and a housing lower end at an elevation beneath the intermediate section laterally spaced from an upper extent of the second section. Each housing is adapted to removably receive and frictionally retain a magnet.

A semi-automated system suitable for use in a hospital setting for filling patient-specific liquid prescriptions to be administered by oral syringes on a just-in-time basis. The system enables hospital pharmacists to simplify and streamline their task, increasing the number of prescriptions that can be filled in a day, improving patient safety and care by minimizing medication errors and the consequences that ensue.

A processing system according to embodiments has an article supplier which supplies an article; a first conveyor which conveys an object to be processed; a workbench which is provided on the downstream side of the first conveyor and places thereon the object to be processed, conveyed by the first conveyor; a robot which takes out the article from the article supplier and subjects the object to be processed, placed on the workbench, to an operation using the article according to a previously instructed operation movement; and a second conveyor which is provided on the downstream side of the workbench and conveys the object to be processed, which has been subjected to the operation by the robot.

A reductant fill system is provided. A reductant tank is configured to store a reductant. A receiver is configured to receive a supply of the reductant from an off-board reservoir. A first valve is in communication with the reductant tank and is configured to control a reductant flow into the reductant tank. A reductant supply line is in fluid communication with the receiver. The reductant supply line is configured to provide the reductant flow to the first valve. The reductant level sensor is configured to generate a signal based on a level of reductant in the reductant tank. A controller is communicably coupled to the reductant level sensor. The controller is configured to purge a stranded reductant in the reductant supply line, based on the signal generated by the reductant level sensor.

A power conversion system has a power converter configured to receive an input voltage signal, convert the input voltage to an output voltage signal, and provide the output voltage signal to a load and a closed loop compensator configured to receive the output voltage signal and a reference voltage signal, the closed loop compensator configured to transmit an error signal indicative of a difference between the output voltage signal and the reference voltage signal. The power conversion system further has a pulse with modulator configured to receive the error signal and modulate a control signal with the error signal to control the output voltage signal, the pulse width modulator configured to transmit the control signal to the power converter and logic configured to receive the error signal and control the closed loop compensator based upon the error signal. A controller observes the error signal characterstics such as peak-to-peak values, frequency and phase and adjust the closed loop controller variables and other power converter system variables in order to improve the dynamic performance and improve stability.

Methods and systems are described for providing power factor correction for high-power loads using two interleaved power factor correction stages. Each power factor correction stage includes a controllable switch that is operated to control the phasing of each power factor correction stage. The phasing of output current from the second power factor correction stage is shifted 180 degree relative to the output current from the first power factor correction stage.

In accordance with one embodiment of the present disclosure, a multi-phase voltage regulator may comprise a plurality of phases, each phase configured to supply electrical current to one or more information handling resources electrically coupled to the voltage regulator. A controller may be electrically coupled to the plurality of phases. The controller may designate at least one of the plurality of phases as a first state phase, and designate each of the plurality of phases not designated as a first state phase as a second state phase. The controller may alternate the designation of at least two of the plurality of phases between a first state phase and a second state phase. Each first state phase may be configured to supply a first electrical current regardless of electrical current demand. Each second state phase may be configured to supply a second electrical current based on the current demand.

The invention relates to a system for eliminating current surges that includes a first voltage regulator (7) having a current limit programmable to a value (I(limit)) that depends on the value of the intermittent current surges (IO(surge)) required by the intermittent load (3) and the relationship thereof to the work cycle, a second voltage regulator (9), a condenser (4) connected between the first and second regulators (7, 9), that loads when the current is no longer required and that unloads when there is a need for output current to provide current to the second regulator (9) which absorbs the changes in voltage produced by the loading/unloading of the condenser and provides a constant voltage for any value of the required output current surge, independently of voltage changes in the condenser (4), and a control loop between a sensor for the output current provided to the load and an input limit (15) for the input current (II) in the first regulator (7). Thus, the input current (I(limit)) (1) and the output voltage (VLoad) are constant for any value of the output current surge (IO(surge)).

Systems and methods that provide control circuits having multiple sub-control inputs that control operation of a power electronics device (e.g., a power converter). Each of the multiple sub-control inputs are output from a separate sub-control circuit that includes a feedback circuit having an input tied to a common control node. The common control node is coupled to an input of a controller (e.g., a PWM controller). Outputs of each of the sub-control circuits are coupled to the common control node by a respective switch (e.g., diode, transistor, etc.) so that each of the sub-control circuits may be selectively coupled to the common control node to provide a control signal to a controller. Since components of each of the feedback compensations circuits are biased at a regulation voltage instead of a higher power supply voltage, the control circuit may switch between control modes with minimal delay.

In accordance with an embodiment, a circuit includes a first transistor, a second transistor having a reference node coupled to an output node of the first transistor, and a control circuit. The control circuit is configured to couple a second reference node to a control terminal of the second transistor during a first mode of operation, couple a floating reference voltage between the control terminal of the second transistor and the reference terminal of the second transistor during a second mode of operation and during a third mode of operation, and couple a third reference node to the reference terminal of the second transistor during the third mode of operation. The second reference node is configured to have a voltage potential operable to turn-on the second transistor, and the floating reference voltage is operable to turn on the second transistor.

An integrated power quality control system includes a transformer with a primary winding, a secondary winding and a compensation winding wound on a magnetic core. A power electronic converter in the system provides a reference voltage to the compensation winding for injecting a series voltage in the secondary winding of the transformer. A controller is utilized to generate a reference control voltage for the power electronic converter based on a power quality control requirement.

A system that manages a supplemental energy source connected to a power grid uses a two stage control strategy to manage power transfers in and out of the power grid as well as in and out of an energy storage system, such as a battery bank. One stage uses a non-linear transfer function to control an output frequency of a DC-to-AC inverter to limit undesired effects of power transients that occur on the grid. A second stage uses control strategy for transferring energy between the energy storage system and an internal DC link based on a relationship between a voltage on a DC link connecting the first and second stages and a DC link reference voltage, the voltage on the DC link, and a voltage at the energy storage system. The control strategy includes rapid charging, over-charging protection, and grid transient stabilization.

A power control circuit for a power supply system including a control unit, a driving circuit and a power supply unit is disclosed. The power control circuit includes a current detection unit, a voltage detection unit and a power detection unit. The current detection unit is used for detecting a current signal. The voltage detection unit is used for detecting a voltage signal. The power detection unit is connected with the current detection unit, the voltage detection unit and the control unit for acquiring a power signal according to the current signal and voltage signal. By comparing an adjustable power reference signal with the power signal, the control unit issues a control signal to the driving circuit. In response to the control signal, the power supply unit is driven by the driving circuit to output an adjusted power to the load according to the adjustable power reference signal.

An exoatmospheric vehicle uses a control system that includes a thrust system to provide thrust to control flight of the vehicle. A regenerative heat system is used to preheat portions of the thrust system, prior to their use in control of the vehicle. The heat for preheating may be generated by consumption of a fuel of the vehicle, such as a monopropellant fuel. The fuel may be used to power a pump (among other possibilities), to pressurize the fuel for use by thrusters of the thrust system. The preheated portions of the thrust system may include one or more catalytic beds of the thrust system, which may be preheated using exhaust gasses from the pump. The preheating may reduce the response time of the thrusters that have their catalytic beds preheated. Other thrusters of the thrust system may not be preheated at all before operation.

Systems and methods for performing airport surface collision-avoidance. A wingtip-mounted camera allows the pilot to positively ascertain that the wingtip will clear objects located in the video. An exemplary system implemented on an aircraft includes a wingtip module having a camera that generates a video stream and a communication device that transmits the generated video stream. A processor receives the video stream and generates a reticule for the video stream. A display device simultaneously presents the video stream and the reticule. The reticule includes a horizon line and is based on a focal length of a lens of the camera and height of the camera above ground. The reticule includes curved and/or straight distance lines and curved or straight travel lines. The travel line(s) correspond to at least one aircraft component or a zone of importance and are based on location of the camera and trajectory of the aircraft.

The invention relates to a de-icing device for an element of a nacelle of a turbojet engine, including at least one heating resistant mat connected to at least one electrical power source (3) and thus defining an assembly (1) of resistant mats, characterized in that the assembly of resistant mats includes one or more subassemblies of resistant mats, each subassembly in turn including one or more resistant mats of the assembly, and each subassembly of resistive mats having a different ohmic value.

A rotor system is disclosed for a reactive drive rotary wing aircraft. Apparatus and methods are disclosed for maintaining the rigidity of the rotor and eliminating play between flight controls and the rotor by mounting swashplate actuators to a flange rigidly secured to the mast. Methods are disclosed for modulating the temperature of oil pumped over one or more of the mast bearing, swashplate bearing, and spindle bearing. The temperature of air passively or actively drawn through rotor may also be modulated to maintain bearing temperature within a predetermined range. Structures for reducing pressure losses and drag on components due to air flow through the rotor are also disclosed. A rotor facilitating thermal management by oil and air flow is also disclosed. Surfaces interfacing between the swashplate and the mast and between control rods and the swashplate or pitch horn may bear a solid lubricant layer.

An unmanned, towable aerovehicle is described and includes a container to hold cargo, an autogyro assembly connected to the container and to provide flight characteristics, and a controller to control operation the autogyro assembly for unmanned flight. The container includes a connection to connect to a powered aircraft to provide forward motive force to power the autogyro assembly. In an example, the autogyro assembly includes a mast extending from the container, a rotatable hub on an end of the mast, and a plurality of blades connected to the hub for rotation to provide lift to the vehicle. In an example, an electrical motor rotates the blades prior to lift off to assist in take off. The electrical motor does not have enough power to sustain flight of the vehicle.

A passively torque-balanced device includes (a) a frame; (b) a drivetrain including a drive actuator mounted to the frame and configured for reciprocating displacement, an input platform configured for displacement by the drive actuator, a plurality of rigid links, including a proximate link and remote links, wherein the rigid links are collectively mounted to the frame, and a plurality of joints joining the rigid links and providing a plurality of non-fully actuated degrees of freedom for displacement of the rigid links, the plurality of joints including a fulcrum joint that is joined both to the input platform and to the proximate rigid link; and (c) at least two end effectors respectively coupled with the remote links and configured for displacement without full actuation.

Individually operable ailerons pivotable to extend a forward end below a bottom wing surface and a rearward end above a top wing surface. The extended aileron forward end increases drag and subsumes the rudder function in the turn, while the aileron rear end produces drag and airflow redirection to reduce lift on the wing. The advantage of the safety ailerons is that habitual or instinctive pilot inputs to the yoke will recover from a dropped-wing stall at low speed and altitude, while conventional ailerons require counter-intuitive pilot actions to avoid crashing in such conditions.

An integrated aircraft galley structure includes a service module having a plurality of galley inserts including at least one oven and at least one refrigeration unit. The service module is formed with a plurality of bays sized to receive the plurality of galley inserts, along with a human machine interface for controlling all of the galley inserts. The service module further includes a plurality of galley insert modules for controlling each galley insert, and an insert power and control unit for each galley insert for controlling power to said insert. The entire system is controlled by a galley power and control unit for controlling each of the insert galley power and control units, and an AC distribution unit for distributing power to the insert power and control units.

An assembly for shielding an aircraft from electromagnetic energy may include a window mounting configured to be conductively coupled to an aperture in a fuselage of an aircraft. The window mounting may include a window pane having an electromagnetically-reflective coating for reflecting electromagnetic energy. The window pane may remain electrically isolated from the fuselage prior to the electromagnetic energy exceeding a frequency of approximately 1 GHz. The window mounting may further include a capacitive gasket capacitively coupling the window pane to the fuselage after the frequency of the electromagnetic energy reflected by the window pane exceeds approximately 1 GHz.

A method and apparatus comprising a refueling controller. The refueling controller is configured to receive data about a current rate of movement of a refueling boom while the refueling boom is in contact with a receiver aircraft during flight. The refueling controller is further configured to disconnect the refueling boom from the receiver aircraft based on the current rate of movement of the refueling boom and a current position of the refueling boom.

A system has a plurality of spacecraft in orbit around the earth for collecting energy from the Sun in space, using stimulated emission to configure that energy as well defined states of the optical field and delivering that energy efficiently throughout the region of space surrounding Earth.

A system and method for mitigating an aircraft incident is provided. The invention includes an aircraft panic component coupled to a terminal component. The aircraft panic component facilitates identification of a panic situation and communicates information associated with the panic situation to the terminal component. The aircraft panic component is further operative to at least partially disable a navigation system and/or operational system of an aircraft. The aircraft can then be sent to a safe zone, navigated remotely and/or a course of action for the aircraft can be determined. A safe zone component is adapted to facilitate identification of a course of action for the aircraft based at least in part upon aircraft positional information, aircraft condition information and/or aircraft resource(s). Further, aircraft navigational information and/or aircraft operational information can be sent via an aircraft communication component to a remote system having a remote communication component and a remote analyzing component facilitating transfer of information related to navigational and/or operational system(s) of the aircraft.

A projectile control system includes a plurality of fins, a drive mechanism coupled to each of the plurality of fins to enable the plurality of fins to be independently retracted or deployed, and a control mechanism in communication with the drive mechanisms to independently control the deployment or retraction of the plurality of fins. A projectile having the projectile control system and a method of operating a projectile are also described herein.

A reverse thrust detent system for an aircraft includes a throttle quadrant having an intermediate reverse thrust detent position, a reverse thrust scheduling system interfacing with the throttle quadrant, at least one aircraft engine interfacing with the reverse thrust scheduling system and a programmable input interfacing with the reverse thrust scheduling system and adapted to receive an engine reverse thrust setting. The reverse thrust scheduling system is adapted to operate the at least one aircraft engine according to the engine reverse thrust setting responsive to actuation of the intermediate reverse thrust detent position of the throttle quadrant. A reverse thrust detent method for an aircraft is also disclosed.

Systems and methods for activating a down hole tool in a wellbore. A piston is moveable from a first position to a second position for activating the down hole tool. The piston includes a first side exposed to a first chamber, and a second side exposed to a second chamber. A rupture member has a first side exposed to the first chamber and a second side exposed to a third chamber. The rupture member is configured to rupture when a pressure differential between the first chamber and the third chamber reaches a predetermined threshold value, at which point the rupture member allows fluid communication between the first chamber and the third chamber. When the rupture member is intact, the piston is in the first position, and when the rupture member ruptures, the piston moves to the second position and activates the down hole tool.

A system for securing a first tubular to a second tubular including a housing having at least one group of at least one window therein. A gripping assembly is disposed in the housing and has at least one member operatively arranged for selectably extending through the at least one window for internally gripping the first tubular. A coupling unit is included having a first clamping mechanism and a second clamping mechanism. The first clamping mechanism is operatively arranged for externally clamping the housing, and the second clamping mechanism is operatively arranged for externally clamping the second tubular component. A method of securing together two tubular components is also included.

A stator for a progressive cavity pump comprises a stator housing having a central axis, a first end, and a second end opposite the first end. In addition, the stator comprises a stator liner disposed within the stator housing. The stator liner has a first end and a second end opposite the first end. The first end of the stator liner is axially spaced from the first end of the stator housing. Further, the stator comprises a tag insert positioned in the stator housing between the first end of the stator housing and the first end of the stator liner. The tag insert has a through passage defining a radially inner surface that includes a tag shoulder.

A tubular anchoring system includes a frustoconical member and a sleeve with at least one first surface that is radially alterable in response to longitudinal movement of the frustoconical member relative to the sleeve. The at least one first surface is engagable with a wall of a structure positioned radially thereof to maintain position of at least the sleeve relative to the structure when engaged therewith. A seal with at least one second surface is radially alterable in response to longitudinal movement of the frustoconical member relative to the seal, and a seat is in operable communication with the frustoconical member having a land which is sealingly engagable with a removable plug runnable thereagainst. The land is longitudinally displaced relative to the sleeve in an upstream direction defined by direction of flow that urges the plug thereagainst.

Fluid treatment systems and compositions are provided including (a) at least one material including (1) at least one carboxylic acid functional group and (2) at least one sulfur-containing group selected from the group consisting of sulfonyl functional groups, sulfonate functional groups and mixtures thereof; and (b) at least one friction reducing agent selected from the group consisting of guar gums, polyacrylamides, hydratable cellulosic materials, viscoelastic surfactants, and mixtures thereof. The fluid treatment systems and compositions can be used to treat aqueous systems, for example as fracturing fluids for use in fracturing subterranean formations. Methods for inhibiting formation and/or precipitation of metal oxides in an aqueous composition using the fluid treatment systems or compositions also are provided.

Fluid treatment systems and compositions are provided including (a) at least one material including (1) at least one carboxylic acid functional group and (2) at least one sulfur-containing group selected from the group consisting of sulfonyl functional groups, sulfonate functional groups and mixtures thereof; and (b) at least one scale control agent. The fluid treatment systems and compositions can be used to treat aqueous systems, for example as fracturing fluids for treating aqueous compositions found in subterranean formations. Methods for inhibiting formation and/or precipitation of calcium salts in an aqueous composition using the fluid treatment systems or compositions also are provided.

A borehole pump system includes an immersion pump (20) and a riser (15) accommodated in the borehole (10). A water treatment system for cleaning pumped water is disposed in the riser.

A method of servicing a wellbore that includes, transporting a fluid treatment system to a wellsite, accessing a water source proximate to the wellsite, introducing a water stream from the water source into the fluid treatment system, irradiating at least a portion of the water stream within the fluid treatment system, forming a wellbore servicing fluid from the irradiated water stream, and placing the wellbore servicing fluid into the wellbore. The portion of the water stream is irradiating by exposing the portion of water stream to ultraviolet light emitted from at least one pulsed ultraviolet lamp.

Systems and methods for managing umbilical lines and one or more jumpers are provided. An example of a system includes a deployment platform carrying a winch and spool assembly, a tether management assembly, and an integrated electrical and/or hydraulic umbilical line extending between a spool on the winch and spool assembly and the tether management assembly. The winch and spool assembly is configured to deploy and to support the umbilical line. The tether management assembly includes a winch and spool assembly for deploying a flying lead and/or annulus jumper adapted to connect to an emergency disconnect package of a well control package for a well. A set of buoyant modules are connected to or integral with a portion of the umbilical line to be used to form an artificial heave compensation loop.

A system for diverting fluids from a wellhead in a subsea environment has a capping stack with a connector suitable for connection or interconnection to the wellhead, a flow base fixedly positioned in the subsea environment, and a conduit connected to the outlet of a diverter line of the capping stack and connected to the inlet of an interior passageway of the flow base. The conduit is suitable for passing fluids from the capping stack toward the flow base. The flow base is a modified horizontal Christmas tree. The interior passageway within the horizontal Christmas tree has a plug therein located a level below the level of the inlet to the flow base. The flow base can be attached to a wellhead or to an anchor pile in the subsea environment.

A tensioning apparatus for applying a substantially constant tension to a workover riser (12) includes a first portion (40) adapted to be coupled to a workover riser, a second portion (44) adapted to be coupled to a marine riser (14) and tensioning means (46) for providing relative movement between the first portion and the second portion to, in use, tension the workover riser.

A hydrocarbon drilling tubulars storage and handling system, said system comprising: —first and second rotary storage racks, each rotary storage rack being rotatable about a vertical axis and having storage slots for storage of multiple tubulars in each rotary storage rack in vertical orientation, the first and second rotary storage rack each including a drive to rotate the storage rack about its vertical axis, —a tubulars racking device positioned between the first and second rotary storage racks, said racking device including a rotary structure that is rotatable about a vertical axis and a drive to rotate the rotary column structure about said vertical axis, the rotary structure supporting at a first side thereof a first tubular racker assembly and at a second side thereof a second tubular racker assembly, each tubular racker assembly including one or more one gripping members adapted to grip a tubular.

An anchoring assembly in a downhole tool, the assembly including a first tubular member, a second tubular member coupled to the first tubular member, and an anchoring block disposed between the first tubular member and the second tubular member. The anchoring block includes a body having a central axis defined therethrough and a central bore formed therethrough, a contact crown, in which at least one annular flow channel is formed between the contact crown and the body, and a contact ring configured to engage at least a portion of the first tubular member.

The present invention features a coke drum de-heading system that includes a de-header valve. The de-header valve includes: (1) a main body; (2) a live loaded seat assembly coupled to the main body and comprising a dynamic, live loaded seat, a live seat adjustment mechanism coupled to the main body and designed to control and adjust the force and resulting seat load of the dynamic, live loaded seat, and a force transfer module in juxtaposition to the dynamic, live loaded seat for transferring the force from the live loaded seat adjustment mechanism to the dynamic, live loaded seat; (3) a static seat positioned opposite from and counteracting or counterbalancing the dynamic, live loaded seat; and (4) a blind or sliding blind capable moving in a linear, bi-directional manner within the de-header valve and between the dynamic, live loaded seat and the static seat.

Methods and systems are provided for air conditioning, capturing combustion contaminants, desalination, and other processes using liquid desiccants.

One exemplary embodiment can be a system for separating a plurality of naphtha components. The system can include a column, an overhead condenser, and a side condenser. Generally, the column includes a dividing imperforate wall with one surface facing a feed and another surface facing at least one side stream. Typically, the wall extends a significant portion of the column height to divide the portion into at least two substantially vertical, parallel contacting sections. Typically, the overhead condenser receives an overhead stream including a light naphtha from the column. Usually, a side condenser receives a process stream from the column and returns the stream to the column to facilitate separation. A cooling stream may pass through the overhead condenser and then the side condenser.

Disclosed herein is a system comprising an evaporation unit comprising a first heat exchanger in fluid communication with a second heat exchanger; where the first heat exchanger is operative to heat an effluent stream comprising an amine solvent and/or amine byproducts and water and to discharge the effluent stream to the second heat exchanger; where the second heat exchanger is operative to convert the effluent stream into a distillate stream and a concentrate stream; and a reverse osmosis unit in fluid communication with the evaporation unit; where the reverse osmosis unit comprises a first reverse osmosis unit that is operative to receive the distillate stream and to separate water from byproducts of the amine solvent such that the water has a purity of greater than 95%, based on the weight of the distillate stream.

An apparatus of the present invention is used for movable objects upwardly and downwardly relative to a fixed surface. The apparatus includes a lifting device presented by a pair of blocks movable relative one and the other. A carriage device is supported by the blocks. The carriage device is connected to object to be lifted relative the fixed surface. An actuator is connected to the blocks. As the actuator moves the blocks relative one and the other, the blocks move above the carriage device relative the fixed surface at various distances lift and lower the objects.

A system for vertically lifting and lowering a container relative to a supporting surface. The system includes at least two lift mechanisms wherein each mechanism includes a frame attached to the container. An elongated cylinder and piston is associated with each frame so that its axis is substantially vertical. A control circuit selectively connects a power source to each cylinder and piston to move the cylinder and piston between a retracted position in which the piston is spaced upwardly from the supporting surface and an extended position in which a foot on the piston engages the supporting surface and lifts the container upwardly from the supporting surface.

An elevator sheave (20) includes a belt guiding surface (26) having a surface profile along at least a portion of the belt guiding surface. The surface profile preferably is defined by an nth order polynomial equation where n is a number greater than 2. In one example, the reference point (40) is a central point along the width of the belt guiding surface (26). In one example, a central portion (42) of the surface profile preferably is aligned to be generally parallel with the central axis (34) of the sheave body. Some examples have curvilinear side portions (44,46) between the central portion (42) and the edges (28,30) of the sheave. Other examples also include second side portions (48,50) that have linear profiles.

A three dimensional wire flying system includes a plurality of winches collectively hanging an object and a control unit for controlling the plurality of winches and the main safety device. Each of the plurality of winches includes a drum unit, a wire wound on the drum unit, a motor unit which provides power to the drum unit, a brake module which stops rotation of the drum unit, a limit switch which operates upon detecting a hardware limit state, and a servo-system. Each of the plurality of winches operates to move the object in a three dimensional space in three directions, including an up-down direction, a left-right direction and a forward-backward direction, and each winch provides a multi-level safety protection.