Lifting and lowering a load on the ocean can be a dangerous task but can be made easy and safe by adopting heave compensation (HC) devices. The design and full-scale experimental results of a 3000-m semi-active heave compensation (AHC) system for a 200-T winch are presented in this paper. First. the design requirements are given and the semi-AHC mechanism is chosen. https://www.ensemblecarpediem.com/product-category/tablerunners/