The invention relates to a method and a device for constructing and viewing a computer model image. The fall arresting system further includes a reel upon which the fall arrest cable is wound. Exemplary uses of water soluble carbon nanostructures include use in polymer composites, biosensors and drug delivery vehicles. The ground station can receive the signal power measurements from the GPS-enabled receiver and estimate a pointing error of the spot beam antenna based on the signal power measurements and the antenna position data received from the GPS platform. The output rotation axes define a second plane forming an angle greater than 0\xb0 with the first plane, respective transmissions and links between the output shafts and the control arms so that rotation of the output shafts is transmitted through the respective transmissions and links to the control arms to rotate the furniture shafts.