Small unmanned ground vehicles(SUGVs) are typically operational on unstructured environments such as crashed building, mountain area, caves, and so on. On those terrains, driving control can suffer from the unexpected ground disturbances which occasionally lead turnover situation. In this paper, we have proposed an algorithm which sustains driving stability of a SUGV as preventing from turnover. The algorithm exploits potential field method in order to determine the stability of the robot. Then, the flipper and manipulator posture of the SUGV is optimized from local optimization algorithm known as gradient descent method. The proposed algorithm is verified using 3D dynamic simulation, and results showed that the proposed algorithm contributes to driving stability of SUGV.

The beam-matter interaction with various coating effects has received continued attention in the high power laser community. Previous works suggest that coatings promote target damage when compared to beaming on uncoated surface. Three types of paint coatings(Acrylic urethane, Silicone alkyd and Stealth blend) and a water coat on metals(Al, Ti and STS) are irradiated with a $CO_2$ laser. Both strain and temperature measurements are provided for assessing the instantaneous response characteristics of each coating on different metals. A selective combination of surface coats with metals has proven effective in either preventing or enhancing damage, both thermal and mechanical, associated with focused beaming on a target.

This paper includes that there are results of designing the flash hider and analyzing fluid dynamics of a front area of the barrel to shorten the length of small arms. Generally, the muzzle flash can be generated out of the barrel by the reaction between the oxygen in the air and unburned gunpowder contained in the propellant gas if a barrel is not long enough to burn gunpowder fully inside of the barrel. Though, the hugh muzzle flash, which is a characteristic of small arms with short barrel length, caused a soldier to aim at the target at night by making the soldier blind for a while and endangers his life by revealing firing position to enemies. Besides, the heat of muzzle flash can weaken the performance of thermal sights, which are attached to small arms for night battlefield. In this paper, flash hiders with several different shapes were designed for a newly developed 5.56mm caliber rifle with short barrel length. The performance of each flash hider to reduce the muzzle flash was compared theoretically and experimentally. Through the authorized test procedure, a highly efficient design of flash hider for reducing the muzzle flash was identified. The result of the paper can be helpful when designing flash hiders for small arms with short barrel length.

In this paper, the characteristics of shock behavior of multi-layered panels under impact were studied. The panels consist of four different lightweight materials including al, al-foam, rubber and FRP in order to enhance their shock energy absorption. A commercial code, Ls-dyna was used to build the numerical model and study shock behavior based on the analysis of shock response spectrum and peak response acceleration. The reliability of the numerical model was estimated by its comparison with the experimental results acquired under the same impact conditions.

Unmanned ground vehicle for facility protection mostly uses model of territory for autonomous navigation. However, modeling of territory using several sensors is highly time consuming and sometimes inefficient for road application. Therefore, an estimation of drivable path based on features of road is required for high speed autonomous navigation on road. In this paper, an estimation method of drivable path using camera and 2D laser rangefinder is proposed. First, a vanishing point is estimated based on image data from CCD camera. Second, a road width is estimated based on range data from 2D laser rangefinder. Finally, the drivable path is estimated by fusing the vanishing point and the road width. The proposed method is tested on both well-structured road and unpaved road like cross-country situation.

The mine-detection system, which is one of the various mission equipments for Ground Vehicle System, detects mine under the ground. The mine detection sensors comprised of Metal Detection(MD) sensor and Ground Penetration Radar(GPR) are attached on the end of the multi-DOF manipulator. The manipulator moves the sensor to sweep mine areas keeping the pre-determined distance between the sensor and ground to enhance mine detection performance. The detection system can be operated automatically, semi-automatically and manually. When the detection system is operated automatically, the sensor should avoid collisions with unexpected obstacles which may exist on the ground. Two types of ultra-sonic sensors were developed for the mine detection sensor system to keep the appropriate gap between sensor and the ground to avoid the obstacles. Also, mine place marking device was developed.

A Ballistic Missile(BM) is a missile that follows a sub-orbital ballistic flightpath with the objective of delivering one or more wardheads to a predetermined target and An Anti-Ballistic Missile(ABM) is a missile designed to destroy a ballistic missile before reaching its target. The main objective of this study is to assess the requirement of ABM by considering both flight characteristic of the SCUD-B/C, Nodong missiles and intercept performance of ABM in the Lower tier Ballistic Missile Defense(BMD). The Ballistic Missile's flight characteristics, such as trajectory, velocity etc., are estimated by simulation using the physical motion equations. The requirement of ABM is calculated by evaluating whether the BMD forces can defend those when the ballistic missiles attack prime facilities.

The improved properties of corrosion for 90Cu10NiFe alloy in natural seawater were explained by sodium diethyl dithio carbamate(NaDDC), namely organic compound, which is reagent for heavy metal extractions of waste water. The efficiency of NaDDC as corrosion inhibitor for 90Cu10NiFe alloy has been investigated in seawater after immersion in various concentrations of NaDDC solutions for 12~36hrs at pH 8.2 by weight loss test and electrochemical techniques including potentiodynamic polarization and SEM-EDS measurements. The results showed that the corrosion resistance of 90Cu10NiFe alloy improves with the increasing concentration of NaDDC but it did not improves with increasing time any more, so the highest inhibition efficiency was 93% at 100mg/L, 36hrs. The results obtained from weight losses and corrosion rates in polarization curve measurements were in good agreement. Therefore, it showed that NaDDC is a good inhibitor for copper corrosion of 90Cu10NiFe alloy.

This paper presented here contains development of variable stability system(VSS) control laws for the KIFS (Korean In-Flight Simulator) aircraft to simulate the dynamics of F-16 aircraft. Development of VSS Control law for pitch rate, roll rate, yaw rate simulation for three specified flight conditions using Model Following Technique with rate feedback autopilot for stability provision. The direct lift force controller was also added to the developed VSS control law to simulate the pitch rate and normal g-load simultaneously. The simulation results show high accuracy of F-16 aircraft's pitch, roll, yaw rate and g-load simulation.

In this paper, we have proposed a methodology which can test and evaluate on system level in development phase of command guided missile system. Test and evaluation play a significant role in the development of weapon system, providing the means for determining to what extent the weapon system satisfies its requirements, whether it functions normally in the operational environment. In case of command guided missile having seeker, the missile communications link provides data to allow the missile to fly an efficient trajectory toward target. Therefore, it is very important to test and evaluate for data link between missile and radar on whole system aspect. we introduce the concept and devices for system level test and evaluation of command guided missile system.

Since J.B.Pendry proposed the concept of "perfect lens" there have been many researches which focus electric fields. However they used 1 dimensional lens. In contrast, this paper suggests 2 dimensional lens calculated from angular-spectrum method. 2-dimensional focusing is achieved in nearfield. This result implies that the proposed lens can be used for wireless power transfer, imaging system, and sensing systems.

In this paper, a newsynchronization technique applied to burst-mode communication is proposed. A synchronization technique is to estimate carrier frequency and phase offsets in a noisy channel environment. A fundamental problem for estimating the parameters(carrier phase and frequency offsets) in burst-mode transmission is that the ways of pursuing estimation accuracy and transmission efficiency are always trade-off. To solve this problem, a new carrier recovery technique is proposed to improve the transmission efficiency with reliable performance especially at low S/N. In the proposed technique, the synchronization parameters are first estimated based on a data-aided feed-forward estimation scheme. Then, a phase tracker using decision-directed DPLL estimates the phase offset for the data portion of the burst data. From simulation results, it shows fast synchronization with shorter preamble maintaining reasonable BER performance at low S/N.

Today, most weapon systems operate as component systems of SoS(System of Systems) and they produce synergy effects in the battle field by interoperating. In addition, the acquisition issues on weapon systems have expanded into SoS context including sustainment analysis. Availability is the sustainment KPP(Key Performance Parameter) of weapon systems. In this paper, a simulation model is proposed to analyze the availability of SoS. The simulation model consists of 5 modules: Mission and Task, System, System RBD, Maintenance system and a simulation engine. Then it was implemented and applied to a SoS. As a result of the application, the simulation model could be applied for analyzing the availability of the SoS and provided information about critical tasks and risky component systems to complete the given mission of the SoS.

This research paper on Tac-ELINT SW development method using M&S system describes the validation and verification methods of Tac-ELINT ground operating software development each stages, and the method of improving reusability of software using SBD(Simulation Based Design/Development) concept. In this project, We obtain the EW software SBD technologies and improved Tac-ELINT ground operating software through software crisis mitigation. This method and technology will expect to support a future EW system and any other various weapon software development.

If the flow of booster gas which is exhausted to the rear part of a canister is properly restricted in the canister of a hot-launch system, the resultant pressure built up in the canister provides additional force to accelerate the missile to a required launch velocity. These thrust augmentation performances can be controlled through the configuration design of baseplate orifices. In this paper, the simple technique to analyze the thrust augmentation performances of baseplate orifices is suggested and the thrust augmentation characteristics by its various configurations are compared. According to the initial displacement of a missile, the inner pressure of a canister is measured from scaled cold flow tests, and the discharge coefficient of baseplate orifices is calculated. Then the thrust augmentation in a canister is simulated by applying these discharge characteristics to the AMESIM software for launch dynamics.

In this study, a target detection algorithm was proposed for using hyperspectral imagery. The proposed algorithm is designed to have minimal processing time, low false alarm rate, and flexible threshold selection. The target detection procedure can be divided into two steps. Initially, candidates of target pixel are extracted using matching ratio of spectral pattern that can be calculated by spectral derivation. Secondly, spectral distance is computed only for those candidates using Euclidean distance. The proposed two-step method showed lower false alarm rate than the Euclidean distance detector applied over the whole image. It also showed much lower processing time as compared to the Mahalanobis distance detector.

High Level Architecture(HLA) is a specification for interoperation among heterogeneous simulators which are executed in a distributed environment. HLA originally allows a number of federates to join in a federation using a single RTI(Run-Time Infrastructure). To interoperate federations without modifying RTI, agent federate, which represents behavior of a federation, can be used. Agent federate can use MOM(Management Object Model) service or agent-user protocol to acquire information of a federation. This paper performs various experiments to measure performance of two architectures. MOM service shows a loss of performance but can be applied without modifying user federates. Experiment results can be used to determine appropriate architecture for interoperation of federations.

The main factors of radar signals used in electronic warfare are Radio Frequency(RF), Pulse Repetition Interval(PRI), Pulse Width(PW), Scan Parameter(SP) and so on. This radar signals may have some important information for the electronic warfare. So, there is a necessity for making a threat database to decide whether the radar signal is a threat or not. When the electronic support system collects some threat radar signals, it needs the search band to control the receivers and filter banks of the system. In this paper we propose search band implementation considering the type and center frequency of the receivers of the electronic support system.

Tactical Information Communication Network(TICN), a concept-type integrated Military Communication system that enables precise command control and decision making, is designed to advance into high speed, large capacity, long distance wireless relay transmission. To support mobility in battlefield environments, the application of Ad-hoc networking technology to its wireless communication has been examined. Ad-hoc network works properly only if the participating nodes cooperate in routing and packet forwarding. However, if selfish nodes not forwarding packets of other nodes and malicious nodes making the false accusation are in the network, it is faced to many threats. Therefore, detection and management of these misbehaving nodes is necessary to make confident in Ad-hoc networks. To solve this problem, we propose an efficient intrusion detection technique to detect and manage those two types of attacks. The simulation-based performance analysis shows that our approach is highly effective and can reliably detect a multitude of misbehaving node.

In this paper, ion beam technology was investigated through the published papers. Ion beam technology is mainly used by the focused ion beams. There are two different types of application methods. One method is to remove the material from the substrate, the other one is to deposit the materials on the surface of the substrate or specimen. Based on the literature review there are 1.5 times more published research papers related to the deposition than those of the removal.

Shaped Charge's penetration performance is depended on the shape of warhead and explosive, liner materials. The liner that manufactured to small homogeneous grain increase the penetration performance and decrease the deviation of penetration performance. This texture is obtained by forging process but, creating the process that remove crack and get small homogeneous grain is very hard. In this study, We success to get the homogeneous small grain texture through appling the most suitable process by DEFORM CODE analysis.

The HEMP has very short rising time with several tens of kV/m, and very dangerous to almost of the electronics. And the certain level of EMP shielding effectiveness is necessary for mos t of the systems andequipment. In EMP shielding effectiveness, the peak value and the rising time in the system are the most considerable parameters. In order to find out these parameters, we need to estimate the pulse shape in time domain. In this paper, we propose the methods to estimate the penetrated pulse in time domain using measured shielding effectiveness and digital filter modeling technique. The validity of the Digital filter modeling technique is verified by the HFSS.

This paper reports on a design of the footstep signal detection system using the seismic sensor. First, we analyzed the characteristics of seismic signal, seismic sensor, and the UGS(Unattended Ground Sensor) system with seismic sensors. In addition, we summarized the existing algorithms to detect footstep using the seismic sensors, and developed our low-power and high efficient footstep detection algorithm. In this paper, the sensor node operations are classified into three different steps and different resources and algorithms are applied to each step, not only to minimize the power consumption, but also to improve the performance.

One of the critical items in radar testing is the ability to evaluate the performance of radar systems under real operational environments. But it takes lots of time and cost to operate real targets and analyze the test results due to a large amount of data based on these complicated environments. In this paper, the Radar Simulative T&E Lab. is introduced, and the test and analysis results of the developing radar for predicting the radar system performance are described in the Radar Simulative T&E Lab. This laboratory could be used to test the far-field characteristics of antenna radiation pattern and to perform an effective radar system test and evaluation using a simulative target generator under a low cost repeating test situation.

In this paper, we present methods to improve output flatness of Ultra-wideband(f1~80f1) Frequency Generator (UFG) with variable output function. That include optimal structure and output ripple calibration algorithm to realize good flatness. The UFG was manufactured by our methods, then experiments were performed. The flatness of band 1~3 and band 4 are within ${\pm}2dB$, ${\pm}4dB$ respectively. These results are very excellent in view of ultra-wideband including millimeter wave band. From this results, we can confirm the validity of our methods.

Proximity magnetic sensor is able to detect the object target accurately in close range and it has been widely used in the underwater guided weapon system because there is no countermeasures from the target. In order to increase the damage of target by shock wave due to explosion of the underwater guided weapon system, the maximum detection range of the proximity magnetic sensor needs to be increased. In this paper, we describe the techniques of the optimum transmitting and receiving coils design using the Finite Element Method for the output power enhancement of the transmitter and the sensitivity improvement of the receiver. Finally, the proposed design techniques of the transmitter and the receiver were verified using a experimental setup and a prototype.

Telemetry techniques of rats have been used for assessing safety pharmacology of drugs and chemicals. Biological signals including blood pressure and heart rate measured under anesthesia were significantly different from those obtained under normal conditions. The stress of restraint in awake animals can also affect the accuracy of physiological evaluation. This paper details the surgery required to allow key cardiovascular parameters to be determined. The telemetric measurement of cardiovascular parameters such as blood pressure, heart rate, electrocardiograph(ECG) established. We carried out the continuous monitoring of cardiovascular parameters using the telemetry system in F344 rats. During the measurement, no significant changes were observed in the heart rate and blood pressure. ECG signals and body temperature were also constant during the measurement of biological signals. With the results of this study, we conclude that this telemetry system can be applied usefully for the assesment of biological parameters in the rats.

For developing the ignition device for the interceptor of Korean active protection system, the design parameters of the ignition device which should have a short ignition delay time and sufficient energy for propellant ignition were studied. The electric primer instead of mechanical primer was adopted for deceasing delay time, and ignition code was used for decreasing the time difference of flame propagation from the flame holes. The developed ignition device showed the ignition delay time of a few ms. When the designed ignition device was applied to the open-type propulsion devices, the stable interior ballistic characteristic was showed in a firing test.

A high power laser beam focused on a small area accelerates a thin material that flies and hits other target material in which a shock wave may be induced. This laser induced shock experimental method is more repeatable and cheaper but worse than other experimental method using gas gun or other apparatus. An optical system including a phase zone plate reduces the interference and also makes the focused-beam-intensity distribution uniform. We wrote a computer code that calculates light ray traces. Using the code we designed and fabricated an optical system including a phase zone plate and improved the laser-beam uniformity. We introduce preliminary experimental results of laser induced shock of the samples such as aluminum and other materials.

In the present study, a recuperator is suggested to improve the thermal efficiency of a micro gas turbine. Primary design parameters of the recuperator are determined from the ideal cycle analysis. The counter flow plate-fin heat exchanger with offset strip fins is chosen as the type of the recuperator. In order to satisfy the design constraints which are the minimum effectiveness and the maximum pressure drop, the optimization for the internal structure of the recuperator is performed with varying the fin spacing and the fin height of offset strip fins. Also the effects of the thermal conductivity of fins and separation plates and the longitudinal heat conduction on the thermal performance of the recuperator are investigated.

Composition which was used as a white smoke grenade consists of Aluminium(Al), Hexachloroethane(HCE) and Zinc Oxide(ZnO), etc. there is a possibility of misfire due to long term storage and there are very few reports on the mechanism behind misfire. In this study, an experimental method known as accelerated degradation testing is used to investigate the chemical mechanism resulting in misfire. The mechanism of chemical change during long term storage was analyzed with XRD and FT-IR. Analysis results suggest that a part of HCE consisting of the white smoke grenade disappeared and the other part was combined into $ZnCl_2$, $AlCl_3$, as a recycled intermediate product under closed system.

Recent developments of small-size unmanned or manned mobile systems such as autonomous robots, exoskeleton or armored suits, micro air vehicles, and unmanned armored vehicles require long-lasting independent power sources of high energy and power density to support the systems' operation for up to 72 hours in the fields. Chemical batteries such as Ni-MH, Li-Ion, the current primary power sources for mobile devices, however, are not capable of providing enough power and energy density for the next generation high power mobile machines. For this reason, KIMM along with KERI and KIMS has been carrying out a 500W MTG development project under the DAPA's "Next generation military power source R&D program" since 2009. In this paper, a design process for a 500W MTG system currently being developed at KIMM is briefly described and the technical issues related to its development are addressed.

In this paper, a sensor bias estimation method with pseudo measurement for asynchronous multisensor systems is proposed. The proposed bias estimation method separates the local filter which estimates the target state with biased measurements into two parts, one is bias part, the other is target state part. By using these two parts, the algorithm generates the pseudo bias measurement for estimating bias, and then eliminates bias of local track through bias compensation. Finally, the proposed algorithm is evaluated by comparing with the existing EXX method.

Design of 500W class UMGT(Ultra Micro Gas Turbine) for power generation is conducted. Basic design parameters are obtained by cycle analysis. Off-design performances are predicted by 1D aerodynamic design and 1D performance analysis of compressor and turbine. 3D impellers are designed and 3D performance analysis is carried out to predict the performance characteristics of UMGT. 1D and 3D performance analysis show similar results. Structure analysis is conducted to select materials. Titanium Alloy is proposed for structural stability.