• Journal of Advanced Navigation Technology
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• v.21 no.4
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• pp.332-338
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• 2017

Launch and recovery system(LARS) is required to perform an USV-based underwater exploration. Through the analysis of the requirements according to the scenario of underwater exploration, the mechanism of LARS and the conceptual design of the mechanical parts of LARS are carried out. In addition, a USV motion can be induced due to environmental disturbances such as waves, so the detailed design of LARS for recovering the underwater tow-fish stably in consideration of the USV motion is performed. To verify the performance of launch and recovery operations, LARS and test bed were developed. The results show that the proposed LARS can stably launch and recovery an underwater tow-fish.

• Advances in aircraft and spacecraft science
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• v.4 no.1
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• pp.53-64
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• 2017

Aerospace Launch Vehicles (ALV) are generally designed with high reliability to operate in complete security through fault avoidance practices. However, in spite of such precaution, fault occurring is inevitable. Hence, there is a requirement for on-board fault recovery without significant degradation in the ALV performance. The present study develops an advanced fault recovery strategy to improve the reliability of an Aerospace Launch Vehicle (ALV) navigation system. The proposed strategy contains fault detection features and can reconfigure the system against common faults in the ALV navigation system. For this purpose, fault recovery system is constructed to detect and reconfigure normal navigation faults based on the sliding mode observer (SMO) theory. In the face of pitch channel sensor failure, the original gyro faults are reconstructed using SMO theory and by correcting the faulty measurement, the pitch-rate gyroscope output is constructed to provide fault tolerant navigation solution. The novel aspect of the paper is employing SMO as an online tuning of analytical fault recovery solution against unforeseen variations due to its hardware/software property. In this regard, a nonlinear model of the ALV is simulated using specific navigation failures and the results verified the feasibility of the proposed system. Simulation results and sensitivity analysis show that the proposed techniques can produce more effective estimation results than those of the previous techniques, against sensor failures.

• Journal of Ocean Engineering and Technology
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• v.30 no.2
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• pp.141-149
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• 2016

In this technical note, the issues and challenges for the launch and recovery systems (LARS) and related techniques for the operation of an underwater robot from a manned platform are considered. Various types of LARS fitted to specific manned platforms, surface or sub-surface, are surveyed and categorized. The current UUV launch and recovery systems from surface ships and submarines utilize time consuming processes. As underwater robot technologies evolve and their roles are defined, safe and effective launch and recovery methods should be developed capable of reliable and efficient operations, particularly at a high sea state. To improve the existing underwater robot capabilities, LARS technology maturation is required in the near term, leading to the ability to incorporate autonomous LARS for an underwater robot on a manned platform. In the near term, particular emphasis should be placed on UUV LARS, which are surface ship based, with submarine based systems in the long term. Furthermore, for a dedicated LARS ship, independent of the existing host ship type, particular emphasis should be given to fully utilizing the capabilities of underwater robots.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.7
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• pp.525-534
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• 2019

Water rocket is a pressurized liquid propellant rocket that shares the same basic principles of space launch vehicles. Water rockets can be used as an engineering educational material for the liquid rocket principles and the launch vehicle systems, far beyond the scope of K-12 level science education. In this paper, the principles and theories of water rocket propulsion and flight dynamics was investigated at the level of undergraduate rocket engineering classes. Also, the system level design and operation of water rocket is summarized by including the components of launch vehicle, launch pad, payload and recovery as well as altitude measurement methods.

• The Journal of the Korea Contents Association
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• v.8 no.8
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• pp.37-46
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• 2008

Launch control system controls the sequence for launching missile in weapon systems. This system have to generate the engagement plan, input information and launch the missile in timeliness requirement. Such a system may fail to operate correctly either due to errors in hardware and software or due to violation of timing constraints. We presented fault-tolerant ethernet for embedded real-time system like launch control system. This approach is designed to handle network faults using dual commercial-off-the-shelf(COTS) network devices. To support fault-tolerant ethernet each node is composed dual channel ethernet and designed the communication middleware for network fault detect and recovery. Especially for time-critical system, the middleware is being developed to achieve that no point of network failure shall take down or cause loss of communication to network nodes.

• International Journal of Naval Architecture and Ocean Engineering
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• v.4 no.4
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• pp.488-503
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• 2012

The stern boat deployment system was investigated to evaluate the capability of launching and recovering rigid hull inflatable boat (RHIB) via the stern ramp. The main parameters to launch and recover RHIB were tested at the design stage. The combined hydrodynamic effect of the stern wake and the water jet flow made it difficult to maintain the maneuvering and sea-keeping ability of RHIB approaching to the stern ramp. The safe recovery course was proposed to maintain the directional control of RHIB and to reduce the combined hydrodynamic effect in the transom zone. To evaluate the feasibility of RHIB recovery, the stern sill depth was measured in various conditions and the ramp availability time was obtained. Also, the experimental percent time operability (PTO) test was performed by the number of successive launching and recovering operations.

• Korean Journal of Remote Sensing
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• v.22 no.4
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• pp.255-264
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• 2006

GRACE (Gravity Recovery and Climate Experiment) is the first dedicated gravity mapping mission. Its primary measurements are the distance changes between two co-orbiting low earth satellites. GRACE is a joint development by NASA and German DLR and was launched in March 2002. GRACE improves the Earth gravity model accuracy by nearly two factor of magnitude over pre-launch models. After brief description of the GRACE primary instrument, inter-satellite ranging system, its flight status and preliminary performance evaluation is presented. Ranging system error models, which were not included in the pre-launch performance model and design specifications, are identified through analyzing the flight data. Base on this analysis, future research topics on the GRACE instrument performance analysis are discussed.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.9
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• pp.920-928
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• 1991

This paper proposes a design procedure based on the LQG/LTR (Linear Quadratic Gaussian/ Loop Transfer Recovery) method for a launch vehicle. Continuous-discrete type LQG/LTR compensators are designed using the e-transformation to overcome numerical problems occurring in the process of discretization. The e-LQG/LTR compensator using the e-transformation is compared width the z-LQG/LTR compensator using the z-transformation. The performance of the overall system controlled by the compensator is evaluated via simulations, which show that the discretization error problem is resolved and the control performances are satisfactory in the proposed compensator.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.4
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• pp.419-425
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• 2014

This study applied finite element analysis (FEA) to the body frame of the 200-meter class multi-legged subsea walking robot known as Crabster (CR200). The body frame of the CR200 is modeled after the ribcage of a human so that it can disperse applied external loads. It is made of carbon-fiber-reinforced plastic (CFRP). Therefore, the frame is lighter and stronger than it would be if it were made of other conventional materials. In order to perform FEA for the CFRP body frame, we applied the material properties of the CFRP as obtained from a specimen test to an FE model of CFRP frame. Finally, we performed FEA with respect to the load conditions encountered when the robot is launched into and recovered from the sea. Also, we performed FEA for the frame, assuming that it was fabricated using a conventional material, in order to compare its characteristics with CFRP.

• Journal of Ocean Engineering and Technology
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• v.34 no.5
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• pp.361-370
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• 2020

We developed a heavy-duty work class ROV trencher named URI-T (Underwater robot it's trencher) that can conduct burial and maintenance tasks for underwater cables and small diameter pipelines. It requires various supporting systems, including a dynamic positioning (DP) vessel, launch and recovery system (LARS), A-frame, and winch in order to perform burial tasks because of its dimensions (6.5 m × 5.0 m × 4.5 m, 20 t) and the tough working environment. However, operating a DP vessel has disadvantages as it is expensive to rent and operate and it is difficult to adjust the working schedule for some domestic coast construction cases. In this paper, we propose a method using a barge instead of a DP vessel to avoid the above disadvantages. Although burying the cable and pipeline using a barge has lower working efficiency than a DP vessel, it can save construction expenses and does not require a large crew. The proposed method was applied over two months at the construction of the water supply in Yokji-do, and the results were verified.