It is necessary that UGV(Unmanned Ground Vehicle) should generate a real-time travesability index map by analyzing raw terrain information to travel autonomously tough terrain which has various slope and roughness values. In this paper, we propose a local path planning method, $MA^*$(Modified $A^*$) algorithm, using DVGM (Directional Velocity Grid Map) for unmanned ground vehicle. We also present a path optimization algorithm and a path smoothing algorithm which regenerate a pre-planned local path by $MA^*$ algorithm into the reasonable local path considering the mobility of UGV. Field test is conducted with UGV in order to verify the performance of local path planning method using DVGM. The local path planned by $MA^*$ is compared with the result of $A^*$ to verify the safety and optimality of proposed algorithm.

In this paper, the results of computational analysis for the stability and F.S.(Factor of Safety) of Bailey Panel Bridge have been presented by FEM(Finite Element Method). The computational analysis was conducted by using LUSAS V14.0 that is a program applicated in the field of Civil Engineering. 6-free beam elements and 3-free truss elements were considered and F.S. against Yield Stress of main sections(considered self-weight and Live-Load) was investigated through the linear-elastic analysis method. The results showed that currently used sections of bailey bridge satisfied for the standard F.S. unit and could be operated in drill of troops and battle fields.

This paper focuses on the properties analysis of 9mm bullet dual structure core to substitute current lead core by environment-friendly combination of W-Cu-Ni system high density composite materials. So the four combination samples were made of dual core with the different center of gravity location backward or forward compare to that of lead type bullet, and we experimented about the performance of 9mm bullet dual structure core. In the experimental results, the outer shape of core of four environment friendly samples on the target maintain marginally, while the current lead core bullets are completely crushed after hitting the target. The penetration depth of environment friendly samples excel seven times to lead type bullet and the three out of four samples with forward adjusted center of gravity penetrate deep as twice as ones backward. The impact tolerance of all four samples satisfies military specification, however, more firing tests are required to improve reliability of scattering distribution.

In this paper, we have introduced a Missile In the Loop Simulation(MILS) Software developed for the missile ground test, which is based on a commercial hard real-time operating system(OS) on Windows platform called as Real-Time eXtension(RTX). MILS software makes it possible to test overall system functions of a integrated missile on the ground in the flight conditions by real-time imitating its inertial data. By means of MILS, we have performed missiles ground tests, which result in successful real flight tests.

An orthogonal magnetic field is often used for a military vessel in the deperm process such as Flash D deperm protocol and Anhysteretic deperm protocol. The effect of the orthogonal magnetic field on a deperm performance was investigated for a sample with strain-induced magnetization and field-induced magnetization given to different direction. A 70mm wide, 110mm long and 0.25mm thick rectangular steel plate was bent to have U-shape and to generate a strong strain on the bottom region of U-shaped steel plate. Field-induced magnetization was attached by NdFeB permanent magnet. Demagnetization was performed by applying magnetic field with a step decrement from the first field(the first shot) under the action of DC bias field.

This paper presents experimental results and derived experimental equations to investigate the turbulent wake characteristics generated by the self-propelled SUBOFF submarine model. A self-propelled SUBOFF model which was assumed as an axial-symmetric body was used to create wake, and a thin strut was mounted on the topside of the model. The experiments were conducted in a circulating water channel(CWC), and the hot-film was used to measure the turbulence in wake cross-section at the distance range of 0.0~2.0L from the model. The hot film anemometer measured turbulent velocity fluctuations, and the time-averaged mean velocity and turbulent intensity are obtained from the acquired time-series data. Measured results show well the general characteristics of turbulent intensity, kinetic energy and mean velocity distribution. Also, this paper presents derived experimental equations, which is extended result to the reference [1]. These experimental equations show well the general characteristics of the turbulent wake behind the self-propelled submerged body.

Estimating underwater target state variables(position, velocity, course, etc) is necessary to counteract threatening targets. In passive sonar systems, conventional target motion analysis(TMA) techniques using bearing and frequency measurements of an underwater target are widely introduced. However, it is not clear how conventional TMA techniques can be used if some of frequency measurements are unavailable during parts of the scenario, partially unavailable frequency measurements are common in the ocean with complicated acoustic conditions where frequency measurements often come and go. This paper proposes a new TMA algorithm, which is robust to partially unavailable frequency measurements, using the frequency measurements fusion method.

In this paper, we considered the authoritative representation of Command and Fire Control System(CFCS) for the surface ship that was the engineering level model to develop system specifications and to analyze operational concepts on the concept design phase and to analyze military requirements, effectiveness and performance for the system. The engineering level model of CFCS can be used in simulation independently of the surface ship's type, and also it takes reuse, interoperability, and extension into consideration. The detailed sub-models, internal and external data interface, data flow among each sub-model, sensor and weapon models about the engineering level model of CFCS was defined. It was verified via engineering level simulations according to the V&V process.

Mission Equipment Package(MEP) system is a collection of avionic components that are integrated to perform the mission of the Korean Utility Helicopter(KUH). MEP system development is classified mission-critical embedded system but KUH MEP system developed including flight-critical data implementation. It is important to establish the good development and verification process for the successful system development. This paper describe the development and verification process in each phase for the KUH MEP system. MEP system design is verified through the qualification test, system failure test and compatibility test in System Integration Laboratory(SIL).

The aerodynamic characteristics of a separated captive body in flow field around aircraft are studied to observe aerodynamic stability for safe separation from aircraft. Since the captive body separated from aircraft is initially exposed to unsteady flow pattern, the change of aerodynamic forces and moments should be measured to analyze how the flow pattern affects on the captive body at the vicinity of aircraft. Aerodynamic forces and moments of the separated captive body are measured at selected positions along predictable dropping trajectories. The measuring trajectories, generated by the free drop test of the dropping model in the wind tunnel, are consisted of 9 possible lines by free dropped trajectories. Experimental results show that the aerodynamic forces and moments are significantly varied with the distance between the captive body and aircraft. In conclusion, the change of aerodynamic characteristics within flow field around aircraft should be considered to simulate trajectories of the separated captive body from aircraft.

Defense Systems Test Center in ADD supports increasingly various missile test requirements such as higher altitude event, multi target operation and low-altitude, high velocity target tracking. In this paper, we have proposed the development of instrumentation radar tracking status simulator based on virtual reality. This simulator can predict the tracking status and risk of failure using several modeling algorithms. It consists of target model, radar model, environment model and several algorithms includes the multipath interference effects. Simulation results show that the predict tracking status and signal are similar to the test results of the live flight test. This simulator predicts and analyze all of the status and critical parameters such as the optimal site location, servo response, optimal flight trajectory, LOS(Line of Sight). This simulator provides the mission plan with a powerful M&S tool to rehearse and analyze instrumentation tracking radar measurement plan for live flight test at DSTC(Defense Systems Test Center).

In this paper, we analyze the standards of the bolts for maintaining the products. The maintainer don't know the detail information of bolts by seeing the shape of bolts when they repair the products. So they waste much time and cost. To solve the these problem, we propose the new systematical discrimination of bolts. To propose the discrimination code, we divide the shapes of the bolts into four classes(head, internal drive, shank and end). User can fine preferentially similar standards by just the shapes of bolts under the this discrimination code. And, User can find the standards of bolts that they want by using the additional information such as measurements. We will reduce the cost and time for the maintaining the products by using the proposed discrimination code.

Warfighting experimentation is an important process for identifying requirements against changing military environment and for verifying proposed measures for reforming military service. The wargame simulation experiment is regarded as one of the most effective means to warfighting experimentation, and its importance is increasing than ever. On the other hand, the results of wargame experiments could be unreliable due to the uncertainty involved in the experimental procedure. To improve the reliability of the experimental results, systematic experimental procedures and analysis methods must be employed, and the design and analysis of experiments technique can be used effectively for this purpose. In this paper, AWAM, a wargame simulator, is used to optimize the organization of operational troops. The simulation model describes a warfighting situation in which the 'survival rate of our force' and the 'survival rate of the enemy force' are considered as responses, 'the numbers of weapons in the squad' as control factors, and 'the uncontrollable variables of the battlefield' as noise factors. In addition, for the purpose of effective experimentation, the product array approach in which the inner and outer orthogonal arrays are crossed is adopted. Then, the signal-to-noise-ratio for each response and the desirabilities for the means and standard deviations of responses are calculated and used to determine a compromise optimal solution. The experimental procedures and analysis methods developed in this paper can provide guidelines for designing and analyzing wargame simulation experiments for similar warfighting situations.

Operational Mode Summary/Mission Profile(OMS/MP) is a document to quantify the operational and maintenance requirements based on the future operational environments and its mission and How to Fight concept in the development of the weapon system. It is important as a key document for the RAM goal setting in the early phase of weapon system development. The paper presents a systematic and practical submarine OMS/MP model processes with a deep analysis of relevant case studies and current status domestic and abroad. Especially, it proposes the unique Scenario Planning and Switch on List techniques with real case studies which have recently performed. The paper will contribute not only the basis of improved requirements for the development of weapon system but also the sustainment of readiness with the enhancement of RAM and reduction of total life cycle cost.

In this study, the axiomatic design(AD) method is applied to construct the hierarchical structure of evaluation criteria and the AHP method is used to calculate the weights of criteria in order to develop the proposal evaluation index for the overseas weapon system purchasing projects. The common evaluation items as main categories are selected through the review of evaluation criteria from the previous works and projects, relevant regulations and defense policy, and the design matrix using fuzzy concept is established and evaluated by the expert group in each design phase to determine the independency, that is the satisfaction of decoupled or uncoupled design, for each criteria in the same hierarchy when they are derived from the main categories. The establishment of decoupled or uncoupled design matrix provides mutually exclusiveness of how small number of DPs can be accounted for FRs within the same hierarchy. The proposal evaluation index developed in this study will be used as a general proposal evaluation index for the overseas weapon system purchasing projects which there are no systematically established evaluation tools.

In war time, minimizing the logistics response time for supporting military operations is strongly needed. In this paper, i propose the mathematical formulation for minimizing the maximal acquisition completion time in wartime or during a state of emergency. The main structure of this formulation is based on the traveling purchaser problem (TPP), which is a generalized form of the well-known traveling salesman problem (TSP). In the case of the general TPP, an objective function is to minimize the sum of the traveling cost and the purchase cost. However, in this study, the objective function is to minimize the traveling cost only. That's why it's more important to minimize the traveling cost (time or distance) than the purchase cost in wartime or in a state of emergency. I generate a specific instance and find out the optimal solution of this instance by using ILOG OPL STUDIO (CPLEX version 11.1).

The contractor management for the effective defense project is essential factor in the modern defense acquisition task. The occurrence of unlawful company causes hastiness for project manager and setback to the deployment of defense weapon system. In this paper, we develop a prediction model for the effective defense project by using the discriminant analysis and analyse the variables that discriminate the unlawful company in many variables. It is expected that our model can be used to improve the project management capability of defense acquisition and contribute to the establishment of efficient procurement procedure through entry of the reliable defense manufacturer.

The Electronic Warfare Computer for the Aircraft Survivability Equipment will improve the ability for countermeasures by analysis about threat information. This paper suggests method that threat data integration of multiple sensors(Radar Warning Receiver, Laser Warning Receiver, Missile Warning Receiver). The algorithm of threat data integration is based on detected threat sequence and azimuth information. The threat sequence information is analyzed in advance and the azimuth data is received from sensors. The suggested method is evaluated through simulation under the environment like real helicopter.

The purpose of this study is to design and implement a 2-level secret information transmission system which can be used for information hiding of images transmitted over various IT communication media. To increase the robustness of the hiding power, we combined the steganography method which inserts secret object into cover object to hide the very fact of information hiding itself, and the preprocessing stage to encrypt the secret object before the stego-insertion stage. As a result, even when the stego-image is broken by an attacker, the secret image is protected by encryption. We implemented the 2-level image insertion and extraction algorithm by using C++ programming language. Experiment shows that the PSNR values of stego-images of ours exceed 30.00db which is the threshold of human recognition. The methodology of this study can be applied broadly to the information hiding and protection of the military secret images.

The airborne backbone network(ABN) provides communication transport services between airborne nodes, surface nodes and satellite nodes. Such ABN is generally constructed with wide-body and high-capacity planes such as AWACS, which can fly long-term along pre-defined flight paths. In this paper, we propose an efficient method to improve routing performances by reconfiguring routing path before link failure based on the prediction of link state with the information of pre-defined backbone nodes' trajectories. Since the proposed method does not need additional information exchange between airborne nodes in order to acknowledge the link failure, it can be effectively used for airborne backbone network with limited bandwidths.

In this paper, we propose a channel allocation algorithm of MSAP(Mobile Subscriber Access Point) and data delivery scheme exploiting the symbol level network coding. The network is comprised of TS(Tactical Switch) as a backbone node, MSAPs, and TMFTs(Tactical Multi-Function Terminal). The TS performs the channel allocation considering the communication range overlapping between the neighboring MSAPs and applies the symbol level network coding, if necessary, depending on the position of the TMFTs. Assuming the number of available antennas of TMFT and MSAP will be extended to two from one, we propose two schemes: single mode and dual mode. Through the simulation, we show that the proposed delivery scheme provides higher delivery ratio and lower delivery delay compared with the legacy store-and-forward scheme.

In this paper, a ground penetrating radar(GPR) system is implemented for landmine detection. The performance of the GPR system is associated with the characteristics of local soil and buried target. The choice of the center frequency and the bandwidth of the GPR system are the key factors in the GPR system design. To detect a small and shallow target, the higher frequencies are needed for high depth resolution. We have been designed, fabricated and tested a new impulse generator using step recovery diodes. The measured impulse response has an amplitude of 6.2V and a pulse width of 250ps. The implemented GPR system has been tested real environmental conditions and has proved its ability to detect a small buried target.

The estimation filter in radar systems must track targets' position within low tracking error. In the Multi-Function Radar(MFR), ${\alpha}-{\beta}$ filter and Kalman filter are widely used to track single or multiple targets. However, due to target maneuvering, these filters may not reduce tracking error, therefore, may lost target tracks. In this paper, a target tracking filter based on particle filtering algorithm is proposed for the MFR. The advantage of this method is that it can track targets within low tracking error while targets maneuver and reduce impoverishment of particles by the proposed resampling method. From the simulation results, the improved tracking performance is obtained by the proposed filtering algorithm.

The cryogenic vessel, storing a liquified solutions as LOX and $LN_2$, consists of a external vessel, internal vessel, thermal insulator and internal support. The internal support should be satisfied with mechanical strength not only to support weight of internal tank but also to maintain uniform space between external and internal tank in spite of external mechanical shock. However, excessive structure design of internal supports is able to increase the amount of heat conduction and the rate of vaporization. The thermal insulator, filled with space between a external and internal vessel, reduces the rate of heat transfer and guarantees the standing time of cryogenic vessel. Especially powder type of insulator has low thermal conductivity and reduce the specification of structure design. In order to evaluate the effect of insulator on structure design, the experiment set-up simulated cryogenic vessel was tested in shock environment according to thermal insulator. As a result, the behavior of internal support under external shock was understood and the design criteria was able to be suggested.

This paper describes the development of SPH(Smooth Particle Hydrodynamics) scheme and integration into the multi-material shock physics code(ExLO) for the purpose of the application to the extreme large deformation problems. SPH numerical scheme has been extended into the fluid dynamics and the high-speed impact events, such as space structure protection against space debris and meteorite catering. Like other hydrocodes, SPH scheme also solves the conservation equations with the constitutive equation including equation of state. The benchmark problem, Taylor-Impact test, was simulated and the predictions show good agreements with both the published numerical data and experimental data. Currently, the contact treatment between materials is under development.