4. Supplemental facility included in centrifuge system

4.1 Investigation of soil strength

4.1.1 Cone penetrometer

4.1.2 Vane device

In-flight vane

Portable hand vane

Results of portable hand vane tests

4.2 Manipulation of model

4.2.1 Loading system

Hydraulic actuator

Electric actuator

Two dimensional loading system

4.2.2 Sand hopper

In-flight sand hopper

Automatic in-flight sand hopper

4.2.3 Excavation simulator