My favorite, for technical applications pertaining to caving, SAR, and the like is "On Rope" by Bruce Smith and Allen Padgett, published by the National Speleological Society.

The classic nautical reference is Marlinspike Seamanship. I can't find my copy and I can't recall the author.but it is very comprehensive, especially if you want to rig a four masted schooner.

Any particular application that you had in mind? That would help us recommend the best reference.