This is Hugh Hunt's paper on tethered balloon systems. Unfortunately, I
can't cut and paste the text without (bizarrely) removing all the spaces.
So you'll have to click the link. Apologies.

http://www2.eng.cam.ac.uk/~hemh/SPICE/papers/PhilTransRoySoc_LiftingOptions_Davidson_Burgoyne_Hunt_Causier.pdf

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