Importance

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Abstract

1. A marine loading arm which includes at least one fluid transfer line having a fixed line end fixed to a base and a moveable line end provided with a coupling adapted for connection to a target duct. The coupling has at least three degrees of freedom relative to the base and the marine loading arm further includes a control device for controlling the movement and positioning of the coupling. The control device has at least three actuators, each of which controls movement of the coupling in a corresponding degree of freedom and each of which comprises an electric motor which is provided at an articulation of the loading arm providing one of the degrees of freedom. The control device further includes a first global positioning system device positioned on or adjacent the coupling for providing information on the absolute positioning of the coupling in space.

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First Claim