1. Docking system, comprising:
a mounting system;
a docking car assembly slideably mounted on said mounting system;
at least one bumper mounted on said docking car assembly;
a biasing system for urging said docking car assembly in a first direction on said mounting system; and
a docking line connected to said docking car assembly, wherein when a force is placed on said docking line, said docking car is urged in a direction opposite to said first direction.
2. Docking system according to claim 1, wherein said mounting system comprises a mounting plate having a front face and a rear face, said rear face being provided with an attachment bracket for mounting the mounting plate to a support.
3. Docking system according to claim 2, wherein said support is a pylon.
4. Docking system according to claim 1, wherein said docking car comprises a support member 10 carrying at least two bumpers.
5. Docking system according to claim 4, wherein said support member has a front face and a rear face, and mounting rings are provided on said rear face.
6. Docking system according to claim 5, wherein the front face of the mounting plate is provided with longitudinally extending rod members which are spaced apart from each other by the same distance as the mounting rings so as to permit the mounting rings to be slidably mounted on the rod members.
7. Docking system according to claim 6, wherein each rod member is provided with a biasing system to urge the mounting rings upwardly on the rod members.
8. Docking system according to claim 6, wherein the biasing system comprises springs retained on the respective rod member by stop members.
9. Docking system according to claim 8, wherein the mounting rings have an internal diameter and said rod members have an external diameter, the internal and external diameters being such that the rod members and the rings are slideably engageable.
10. Docking system according to claim 4, wherein the support member is provided with two apertures through which said docking line extends.
11. Docking system according to claim 10, wherein at least one guide member is provided on a rear face of the support member over which the docking line passes.
12. Docking system according to claim 5, wherein a jam cleat is provided on the front face of the support member to secure said docking line.
13. A docking assembly suitable for mounting on a dock or quay, comprising:
a docking system as claimed in claim 1;
first and second bumper carrying devices positionable on a dock or quay on either side of said docking system, and spaced from said docking system by a distance such that when a craft is secured to said docking system, and bumpers on said bumper carrying devices are in contact with the craft, rotation of the craft about said docking system is prevented.
14. Docking assembly according to claim 13, wherein each of said bumper carrying devices is mountable on an in-dock track recessed into a dock.
15. Docking assembly according to claim 13, wherein the docking system is mounted on a bumper carrying device disposed in an in-dock track, and is moveable towards and away from the craft.
16. Docking assembly according to claim 13, wherein said bumper carrying device includes a tripod frame including outrigger members wherein a lower end of each outrigger member is connected to a wheel and wherein an upper end of each outrigger member is connected to a sloping central member.
17. Docking assembly according to claim 16, wherein a lower end of the sloping member is connected to a foot which is configured to slideably engage with an in-dock track.
18. Docking assembly according to claim 17, wherein the frame is provided with a carrying unit at an opposite end to the foot, said carrying unit including upper and lower tracks on which bumpers or a docking car may be mounted.
19. Docking assembly according to claim 17, wherein the in-dock track includes keeper members positioned longitudinally along the length of the track and defining spaces which extend a distance longitudinally which is slightly longer than the length of the foot.
20. Docking assembly according to claim 19, wherein said track has a base in which a hole is located between each of the keeper members, said hole receiving a fastening pin mounted to the foot by passing the pin through a hole in the foot into said hole in the base of the track, to thereby fasten the foot in a desired position in the track.
21. Method for docking a craft at a dock or quay, comprising:
bringing a craft alongside a docking assembly comprising a docking system as claimed in claim 1, and first and second bumper carrying devices positioned on the dock or quay on either side of the docking system, said first and second bumper carrying devices being spaced from said docking system by a distance such that when the craft is secured to said docking system, and bumpers on said bumper carrying devices are in contact with the craft, rotation of the craft about said docking system is prevented;
hitching the docking line to a center cleat of the craft;
pulling on the docking line to draw the craft into contact with bumpers on said docking system and cleating said docking line;
moving said bumper carrying devices to bring the bumpers carried by said bumper carrying devices into contact with the craft on either side of the docking system.
22. Method according to claim 21, wherein said bumper carrying device includes a tripod frame including outrigger members provided with a wheel connected to a lower end of each outrigger member, and the upper end of each outrigger member being connected to a sloping central member.
23. Method according to claim 22, wherein a lower end of the sloping member is connected to a foot which is configured to slideably engage with an in-dock track.
24. Method according to claim 23, wherein the foot is provided with a pin, and the foot is located in the track and moved to a position where the pin is inserted though a hole in the foot into a respective hole in the base of the track to fix the position of the foot.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method for improving stability of delta-sigma modulation process, comprising:
(a) receiving an analog input signal and a feedback signal;
(b) summing the received analog and feedback signal to produce a summed signal, wherein the summed signal is limited such that the absolute value of a limited summed signal has the value \u03b1*(maximum value of the input signal), \u03b1>1;
(c) quantizing the summed signal and outputting a quantized output signal;
(d) generating an error signal by summing the limited summed signal and the quantized output signal,
and
(e) performing second order filtering of the error signal to produce the feedback signal.
2. The method of claim 1, wherein 1.0<\u03b1<2.0.
3. The method of claim 1, wherein 1.4<\u03b1<1.6.
4. The method of claim 1, further comprising performing the second order filtering using a transfer function H1(z)=2z\u22121\u2212z\u22122.