One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system.

Weapon system currently considers the research about effect analysis including cost effectiveness methodology for a budget management and an achievement of the military strategy goal. So that, this study considers the theoretical background, strength and weakness of several Multi-Criteria Decision Making, and an effect analysis of weapon system. And AHP(Analytic Hierarchy Process) is selected for the best effect analysis methodology of weapon system. Therefore, we applied AHP to the case study of the new generation Multiple Launcher Rocket System, performing the analysis of cost effectiveness methodology. Using AHP and cost effectiveness methodology, we propose the actual and proper decision making result.

In the future, most military activities will be replaced by robots. Because of many dangerous factors in battlefield, reconnaissance should be performed by robot. Reconnaissance robot should be small for not being detected, be light and simple structure for personal portability and overcome unexpected rough terrain for mission completion. In case of small and light robot, it can't get enough friction force for movement. Therefore small reconnaissance robot need jumping function for movement. In this paper we proposed a biologically inspired jumping mechanism. And we adjusted moment and jumping angle by using four bar linkage, especially varying coupler length.

In terms of protective engineering, there are no noticeable researches regarding covered-positions for smaller units in South Korea. So, standards to maintain and build protective facilities for larger units have been applied in ones for smaller units without any adjustment. The previous study was to calculate penetration depth of the concrete walls because the experiment performed indoor. In this outdoor experiment, velocity of projectile impact as one of the other important factors was considered to prove the validity of 30cm concrete wall thickness as effective protective level of the covered-position. Random effects and extraneous variables which could be occurred in outdoors experiment were controlled with statistical techniques. As a result, velocity of projectile impact was significant variable and the given standard, 30cm thickness of concrete walls was as valid as ever.

Fusion of decisions in wireless sensor networks having flexibility on energy efficiency is studied in this paper. Two representative distributions, the generalized Gaussian and $\alpha$-stable probability density functions, are used to model non-Gaussian noise channels. By incorporating noise channels into the parallel fusion model, the optimal fusion rules are represented and suboptimal fusion rules are derived by using a large signal-to-noise ratio(SNR) approximation. For both distributions, the obtained suboptimal fusion rules are same and have equivalent form to the Chair-Varshney fusion rule(CVR). Thus, the CVR does not depend on the behavior of noise distributions that belong to the generalized Gaussian and $\alpha$-stable probability density functions. The simulation results show the suboptimality of the CVR at large SNRs.

In this paper, passive direction-finding localization of the emitter using noisy line-of-bearing (LOB) measurements is considered. The performance of the LOB-based emitter localization using linear LSE algorithm is given. The Dependence of the performance on bias of emitter location and sensor trajectory is illustrated using the numerical results.

In the simulation of underwater vehicles such as a submarine or a torpedo, various type of simulations like an engineering level simulation for predicting the performance precisely and an engagement level simulation for examining the effectiveness of a certain tactic is required. For this reason, a tactics manager which can change the behavior of a simulation model according to external tactics is needed. In this study the tactics manager supporting a script language and engine which can represent various tactics and can help users define external input tactics for the tactic manager easily is suggested. Python and Lua which are representative among script languages have been compared and analyzed from the viewpoint of a tactic manage, and the tactic manger using the script engines of those script languages was implemented. To demonstrate the effectiveness of the tactic manager, a target motion analysis simulation of the warfare between a submarine and a surface ship.

Interoperability is the key issue in NCW. However, old-fashioned weapon systems have low level interoperability. The representative example is BTCS. Therefore, we apply KVMF R1 to BTCS in order to improve interoperability and testify the effectiveness of how to apply without any changes in existing software. In this paper, we have proposed a message and software architecture design method for applying KVMF to developed weapon system. Finally, it is confirmed that the proposed method is superior to apply KVMF to existing weapon system in a point of verifying how to highly efficiently apply KVMF on existing weapon system.

In this paper, we have proposed a design for security network system passing through the non-security network which is commonly used for various networking services. Based on the security requirements which are assumed that the large classified data are bi-transmitted between a server and several terminals remotely located, some application methods of security techniques are suggested such as the network separation technique, the scale-down application technique of certification management system based on the PKI(Public Key Infrastructure), the double encryption application using the crypto-equipment and the asymmetric keys encryption algorithm, unrecoverable data deleting technique and system access control using USB device. It is expected that the application of this design technique for the security network causes to increase the efficiency of the existing network facilities and reduce the cost for developing and maintaining of new and traditional network security systems.

Since GPS receivers and INS algorithms do not work properly in the spinning vehicles due to change of the GPS signal and excess of the measurement limitation of the gyroscope, conventional GPS/INS integrated navigation systems do not provide accurate navigation outputs. This paper proposes a design method for GPS/INS integrated navigation systems of spinning vehicles. A special GPS receiver with a signal tracking loop for changed GPS signal caused by spinning and an INS with a roll estimation method are configured and the conventional integration filter is combined. The proposed method was verified through comparison of the navigation results. The result of the proposed method for the spinning vehicle was similar to that of the conventional navigation system without spinning.

Laser Inertial Navigation System(LINS) consists of Ring Laser Gyroscopes(RLG) and accelerometers. RLG has a lock-in region in which there is zero output for input angular rates less than about 0.1deg/sec. The lock-in region is generated by the imperfect mirrors in RLG. To avoid the lock-in region, a sinusoidal motion called dither motion is applied on RLG. Therefore this dither motion is measured by RLG/accelerometer even if at a stop state. In this situation, the performance on the initial alignment of LINS can be degraded. In this paper, we analyze the performance on the initial alignment of LINS theoretically and experimentally. Analysis results include how dither motion, the pre-filter and the corner frequency in alignment loop affects the performance on the initial alignment of LINS.

NHC means that the velocity of the vehicle in the plane perpendicular to the forward direction is almost zero. The main error source of NHC is the mounting misalignment which is the difference between the body frame of a land vehicle and the sensor frame of an inertial measurement unit. This paper suggests new NHC algorithm that can reduce position errors by real-time estimation of mounting misalignment. Then NHC/ZUPT integrated land navigation system is designed and its performances are analyzed by simulations with van test data. Simulation results show that the proposed NHC/ZUPT land navigation system improves navigation accuracy regardless of misalignment angle and is very useful when SDINS operates stand-alone for land vehicle navigation with large mounting misalignment.

In this paper, the design results of a $22.5^{\circ}$ diode phase shifter for the RADANT lens and two $11.25^{\circ}$, $22.5^{\circ}$ dielectric phase shift layers for the diode phase shifter are presented. The amount of phase shift introduced by each dielectric layer depends on the thickness and the shape of the metal strip and the electrical property of the diode. The equivalent circuit model is employed to represent the dielectric phase shift layer, and the simulated result of the equival circuit model is compared with the result of the field simulation. The measured data of the fabricated $11.25^{\circ}$, $22.5^{\circ}$ dielectric phase shift layer shows about $2^{\circ}$ phase shift error.

To analyze and verify the performance of a pulse radar without the real target data, there is a need to make the simulated signal which is similar to the received signal of the real target. In this paper, a method of the received signal generation for the pulse radar is proposed to solve the above need. The user-made scenarios are used to model the fast and small target and the clutter data based on the ground environment. These data are transformed into the electric signal using the proposed method. The efficiency of the proposed method is proved by comparing the signal of a field test with the simulated signal.

Thermoplastic polyurethane elastomer(PU-TPE) and energetic thermoplastic polyurethane Elastomer(E-PU-TPE) were prepared from Hexamethylene diisocyanate(HDI), 1,4-BD/AA ester polyol and glycidyl azide polymer(GAP-2400) as an energetic material by the addition polymerization. The PU-TPE and E-PU-TPE were characterized by FT-IR and GPC. Viscometer, DSC and UTM were used to investigate the viscose behavior with a various solvent, thermal properties and mechanical properties of PU-TPE and E-PU-TPE, which are of potential interest for the development of high performance binder of energetic solid propellants. It was found that $M_w$ of PU-TPE and E-PU-TPEs are over 100,000 and decreased with increase of GAP-2400 contents. $T_m$ and ${\Delta}H$ as thermal properties decreased and also tensile strength and elongation at break as mechanical properties decreased with increase of GAP-2400 contents.

Faults can be generated at electric power systems by variety of both certain and uncertain reasons, which may cause harmful effects on electrical apparatuses under operation and stability of electric power system operations, and may also lead to great confusions and inconveniences to individual livings, public works, industrial activities, services, military affairs, etc.. In some cases, intentional inductions of faults are committed for specific purposes, and it is necessary to understand the procedures of fault by some foreign materials. In this paper, compositions and operations of electric power systems, summaries of electrical fault phenomena and fault protection, and restrictions to power system operation were outlined. And the analogies on the procedure of faults from former papers were introduced, and test results that revealed the validity of those analogies were also introduced.

The idler wheel installed at the front side of the newly developed tracked vehicle didn't meet the durability requirement by showing the crack failure near the jointed region at the wheel during the field test. To find the crack developing mechanism we constructed finite element model for the idler wheel representing the behavior of interface between each suspension units, material properties from the material test data and actual loading conditions. This paper shows a result that maximum von Mises stress near the bolt hole on the outer rim is higher than inner idler coressponding to the actual test result and that result was reversed by adopting the reinforcement outside of the outer rim.

A research was conducted about the Reynolds number effect on the projectile with an altitude change. The atmosphere conditions change in accordance with an altitude change. It effects the Reynolds number. To confirm how the phenomena affect the trajectory of the projectile, a computer program is designed with an altitude and a range considered. The MISSILE DATCOM which is based on the semi-empirical method was utilized to get aerodynamic coefficients. The result shows that the Reynolds number considerably changes as the altitude change. It causes to change the drag coefficient of the projectile. As the Reynolds number decreases, the skin friction drag increases significantly. It causes to decrease the maximum altitude and the range.