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The spreader of the automated rail mounted container gantry crane (ARMG) causes small offset or deflection oscillation because of the interference of random wind etc. so that cannot load and unload containers rapidly and accurately. This paper presents a fine tuning method by the traction of auxiliary wire ropes. The fine tuning system is simplified into a fully constrained 1R2T cable-driven parallel robot. The system dynamic model is established by Lagrange method, and the inverse dynamics solution is carried out by introducing the external force couple method. According to the real-time trajectory planning of spreader deflection, the position controller is designed based on computational moment method, and the simulation experiment platform is established by using MATLAB/Simulink based on dynamic model and servo control law. The interference force of wind and hoisting ropes is simulated by random signal to form the simulation closed-loop system. The simulation results show that the spreader can theoretically achieve the rapid and accurate positioning by the traction of auxiliary wire ropes after choosing the reasonable controller coefficients.

The radiation of early animals during the Cambrian explosion was accompanied by widespread perturbations in oceanic and atmospheric conditions. However, the cause-effect relationships between evolutionary innovations, carbon (C) cycling, and continental weathering are still a matter of debate. Further paleoenvironmental reconstructions of poorly studied paleo-continents covering the Precambrian/Cambrian (PC/C) transition may improve the correlation of the events and their impact on the Earth system on a global scale. The Tarim Basin was presumably located proximal to the well-studied South China craton during the Ediacaran-Cambrian boundary and is expected to contribute equally to our paleoenvironmental reconstructions. Here we apply carbon and strontium (Sr) isotope records (δ13C and 87Sr/86Sr) obtained from well-preserved marine carbonates spanning the late Ediacaran to the late Cambrian from the Keping region in the northwestern Tarim Basin, NW China. By comparison to other carbonate successions from various paleo-continents, our obtained seawater 87Sr/86Sr curve in this study shows a stepwise first-order increase to more radiogenic values superimposed by second-order presumably regional variations. Our obtained δ13C variations exhibit four prominent negative and three positive excursions identical to the global δ13C record. Based on existing paleontological evidence and our new Tarim δ13C and 87Sr/86Sr curves, we propose a stratigraphic correlation from the late Ediacaran to the late Cambrian between the Tarim Basin and other paleo-continents. Besides, our paleoenvironmental reconstruction reveals both regional and global sea-level changes that may have controlled the influx of radiogenic Sr and presumably the influx of nutrients controlling primary production and the rate of organic carbon burial in the Tarim Basin at the time of deposition. These feedbacks may have ultimately influenced the rapid diversification of metazoans and the oxygenation of the Cambrian ocean and atmosphere approaching-present pO2 levels.