1. Date of download: 9/17/2016 Copyright © ASME. All rights reserved. From: Load Position Estimation for Crane Anti-Sway Control Systems J. Dyn. Sys., Meas., Control. 2014;136(3):031013-031013-7. doi:10.1115/1.4026134 Liebherr crane LHM 550 during bulk cargo transloading Figure Legend:

2. Date of download: 9/17/2016 Copyright © ASME. All rights reserved. From: Load Position Estimation for Crane Anti-Sway Control Systems J. Dyn. Sys., Meas., Control. 2014;136(3):031013-031013-7. doi:10.1115/1.4026134 Two-degree of freedom (2DOF) control with state observer implemented on Liebherr harbor mobile cranes Figure Legend:

3. Date of download: 9/17/2016 Copyright © ASME. All rights reserved. From: Load Position Estimation for Crane Anti-Sway Control Systems J. Dyn. Sys., Meas., Control. 2014;136(3):031013-031013-7. doi:10.1115/1.4026134 Geometry, positions, variables, and forces of a rotary boom crane Figure Legend:

4. Date of download: 9/17/2016 Copyright © ASME. All rights reserved. From: Load Position Estimation for Crane Anti-Sway Control Systems J. Dyn. Sys., Meas., Control. 2014;136(3):031013-031013-7. doi:10.1115/1.4026134 Gyroscope mounting on ropes of an LHM crane (the photo was taken while hook was on the ground) Figure Legend:

5. Date of download: 9/17/2016 Copyright © ASME. All rights reserved. From: Load Position Estimation for Crane Anti-Sway Control Systems J. Dyn. Sys., Meas., Control. 2014;136(3):031013-031013-7. doi:10.1115/1.4026134 Raw measurement data of a rope-mounted gyroscope during crane motion Figure Legend:

6. Date of download: 9/17/2016 Copyright © ASME. All rights reserved. From: Load Position Estimation for Crane Anti-Sway Control Systems J. Dyn. Sys., Meas., Control. 2014;136(3):031013-031013-7. doi:10.1115/1.4026134 Top view on crane ropes with no rope string oscillations (left) and heavy rope string oscillations (right) Figure Legend:

7. Date of download: 9/17/2016 Copyright © ASME. All rights reserved. From: Load Position Estimation for Crane Anti-Sway Control Systems J. Dyn. Sys., Meas., Control. 2014;136(3):031013-031013-7. doi:10.1115/1.4026134 Comparison of the presented load position estimate, a GPS reference measurement and the results from Ref. [16]. (a) Validation of load position estimates. (b) Validation of rope angle estimates. Figure Legend:

8. Date of download: 9/17/2016 Copyright © ASME. All rights reserved. From: Load Position Estimation for Crane Anti-Sway Control Systems J. Dyn. Sys., Meas., Control. 2014;136(3):031013-031013-7. doi:10.1115/1.4026134 Comparison of load position estimation during closed-loop operation of Liebherr crane LHM 400 Figure Legend: