Localization is very important for the autonomous navigation of Unmanned Ground Vehicles; however, it is difficult that they have a precise Inertial Navigation System(INS) sensor, especially Small Unmanned Ground Vehicle(SUGV). Moreover, there are some condition such as denial of global position system(GPS), GPS/INS integrated system is not robust. This paper proposes the estimation algorithm with optical flow sensor and INS. Being compared with previous researches, the proposed algorithm is suitable for skid steering vehicles. We revised the measurement model of previous research for the accuracy of side direction position. Experimental results were performed to verify the algorithm, and the result showed an excellent performance.

This paper considers the many kinds of attitude control systems including launcher. JVC(Jet vane control), Jet tap, Jetvator and Movable nozzles are used to control the initial attitude of a missile only. Recently side jet thruster and it's applications to control initial turn and to maneuver at high altitude have been increased. How to design and develop the missile for an initial turn and a high maneuver at high altitude using side jet thrust were described in this paper.

In this paper, we have proposed novel technique to improve maintainability for training vehicle of underwater weapon system. In case of under water weapon, the fire procedure is related with operation of expulsion system in submarines. So the submarine crews should practice the complex fire procedure of weapon system by using training vehicle, which is safer and cheaper than operational weapon. After emitted from submarine, the training vehicle rise to the surface and should be withdrawn from the sea. The recovered training vehicle is transported to maintenance depot and pass through the recycling procedure including disassembling the vehicle, data acquisition & analysis, battery charge, replacing expandable components, testing the captive equipment, and assembling the vehicle. The disassembling & assembling of training vehicle which is composed of watertight section or airframe, is time-consuming work. So in this paper, we have studied the elements of recycling procedure and propose the method to exclude the assembling & disassembling work for maintainability improvement.

Since the obstacles and mines are of the risk factors for operating ships and submarines, the active sonar system is inevitably used to avoid the hazards in ocean environment. In this paper, modeling and simulation algorithm is used for active sonar systemto quantify the measure of mission achievability, which is known as Measure of Effectiveness(MOE), specifically for detection in this study. MOE for detection is directly formulated as a Cumulative Detection Probability(CDP) calculated from Probability of Detection(PD) in range and azimuth. The detection probability is calculated from Transmission Loss(TL) and the sonar parameters such asDirectivity Index (DI) calculated from the shape of transmitted and received array, steered beam patterns, and Reverberation Level (RL). The developed code is applied to demonstrating its applicability.

In this paper, decoupled controller design for Autonomous Underwater Vehicle(AUV) and its simulated performance test results and Hardware In the Loop Simulation(HILS) results are presented. Control system design is done using the PD control scheme. Stability analysis and step response of closed loop system under uncertain parameter condition are also presented. The results of full coupled nonlinear model simulation show the well applicability of the designed controller. From the results of HILS, we can verify performance of real time processing and implemented hardware for AUV.

Airworthiness certification is a government certification for the military aircraft to safely attain, sustain and terminate flight and It is a mandatory process of qualifying the flight safety within the operational boundaries of a military aircraft. To save the manhour, time and cost for applying all the airworthiness certification criteria to the aircraft equipped with flight control switching mechanism development program, an identification of the risk and systematic assessment of risk is analysed. Airworthiness redesign actions so called software switching mechanism for the modified aircraft in the flight technology and electric system area are suggested to reduce the risk hazard index.

Visual information and aural warning of independent aircraft survivability equipment increase the pilot workload and limit the effective countermeasures. For increase the aircraft survivability, Integrated design of survivability display and aural warning need to consider pilot intuitions. If pilot aware the threat by intuition, evade or escape from the threat using the countermeasures equipment, it will increase the survivability. This paper describe the design and verification of for Utility Helicopter survivability equipment.

Alignment tolerance for EO/IR airborne camera using common optic is an important factor in stabilization accuracy and geo-pointing accuracy. Before airborne camera is mounted on the aircraft, defining alignment tolerance and verification of it is essential in production as well as research and development. In this paper we establish basic concept on the definition and elements of alignment tolerance for airborne camera and propose how to measure each of those elements. Components and the measurement sequence of alignment tolerance are as follows: 1) tolerance of alignment between EO and IR LOS. 2) tolerance of sensor alignment. 3) tolerance of position reporting accuracy. 4) tolerance of mount alignment

In tactical environment, tactical wireless networks are generally comprised of Tactical MANETs(T-MANETs) or Tactical WMNs(T-WMNs). The most important services in tactical network are voice and low rate data such as command control and situation awareness. These data should be forwarded via multi-hop in tactical wireless networks. Urgent and mission-critical data should be protected in this environment, so QoS(Quality of Service) must be guaranteed for specific type of traffic for satisfying the requirement of a user. In IEEE 802.11s, TDMA-based MAC protocol, MCCA(MCF Controlled Channel Access), has a function of resource reservation. But 802.11s protocol can not guarantee the end-to-end QoS, because it only supports reservation with neighbors. In this paper, we propose the routing protocol, R-HWMP(Reservation-based HWMP) which has the resource reservation to support the end-to-end QoS. The proposed protocol can reserve the channel slots and find optimal path in T-WMNs. We analyzed the performance of the proposed protocol and showed that end-to-end QoS is guaranteed using NS-2 simulation.

In counterfire warfare, it is important to detect and attack enemy targets faster than the enemy using sensing The grided environmental data is usually provided by the numerical simulation coupled with a data assimilation technique and various inter- or extrapolation algorithms, both of which are based on the observation spanning from simple equipments to satellites. In order to employ the gridded environmental data in the M&S system frequently cutting area and changing its resolution, interpolation algorithms such as linear, cubic spline, IDW, and Kriging methods are necessary to apply. These methods, however, require much time in the M&S system. This paper introduces a technic to reduce time to change the resolution of data. using the binary search method, which finds a point to interpolate quickly and interpolate data in the vicinity of. We also show the efficiency of proposed methods by way of measuring the respective elapsed times.

In counterfire warfare, it is important to detect and attack enemy targets faster than the enemy using sensing and shooting assets. The artillery assets of North Korea are mostly mine artillery and much more than those of South Korea. To cope with sudden fire attacks from North Korea, we need to improve capability of our artillery. In this paper, we discuss issues and problems of our counterfire warfare systems and processes to overcome numerical inferiority and defend against the mine artillery. We develop a simulation model for counterfire warfare and analyze effectiveness of our counterfire weapon systems and operations based on various counterfire warfare scenarios. Finally, we propose methods of tactical operations and acquisition strategies of counterfire weapon systems, including detaction, firing, and protection assets.

The previous steganographic methods by using the interpolation were difficult to estimate the distortion because the size of cover image is extended by interpolation algorithms. In this paper, to solve the problems of previous methods proposed the improved steganographic method based on the pixel replacement algorithms. In our method, we cannot extend a cover image, but also can estimate exactly the distortion of the stego-images. In the experimental results, the estimated distortion and embedding capacity of stego-image are shown on three pixel replacement methods.

Geo-pointing is a function that maintains LOS(Line of Sight) to a stationary ground target by controlling azimuth and elevation angles of a EOS(Electro-Optical System) which are calculated from aircraft navigation data and target coordinates. In design and implementation of the geo-pointing, a transmission time delay between GPS/INS and EOS is a major degradation factor of the geo-pointing performance when the aircraft is rapidly maneuvered especially. In this paper, a kalman filter is designed to compensate the transmission time delay of aircraft navigation data. Simulation and test results show that the geo-pointing performance is enhanced by the proposed compensation technique.

In general, radial velocity of a target can be obtained by acquiring doppler frequency shift in case of a doppler radar, or can be obtained by acquiring range rate in case of a pulse radar. Then radial velocity can be converted to tangential velocity using aspect angle or position variation per unit time. These two ways have the same meaning in physically, but result in different uncertainty finally. In this paper, it is described not only the two transformation procedures to calculate tangential velocity from radar measurement data, but also the result of combined uncertainty comparison between these two procedures.

An infrared image synthetic method is proposed for infrared system simulation. The synthesis image uses a background IR image captured from real scene and a target IR modeling image. The radiances related with maximum and minimum temperatures of the background and target images are calculated from the Planck's blackbody equation. Based on them, the background and target images are compensated and synthesized. The proposed method is simulated and the IR target images are generated by RadThermIR software.

In this paper, we proposed an automatic threshold control method for radar warning receiver. Considering the noise level of the environment, this technique can effectively adjust sensitivity level of radar warning receiver and can offer more accurate radar information for aircraft pilot in noisy circumstances.

Organophosphorus compounds are irreversible inhibitors of cholinesterase enzyme. Exposure causes a progression of toxic signs, including hypersecretion, tremor, convulsion, respiratory distress, epileptiform seizure, brain injuries and death. To protect brain injuries, administration of diazepam as a neuroprotectant is now considered essential for severely exposed nerve agent casualties. However, studies have shown diazepam to provide less than total protection against the neuropathological consequences of nerve agent exposure. In this context, extensive studies have been carried out to find out effective alternative drugs to protect brain from epileptiform seizures induced by organophosphate compounds intoxication. It has been reported that a combination of carbamate and anticholinergic or antiglutamatergic can be a very effective medical countermeasure in dealing with the threat of organophosphorous poisoning. In this study, experimental animals including rats and guinea pigs were implanted with microelectrodes on their brain sculls, and treated with various centrally acting drugs such as physostigmine and procyclidine prior to soman challenge, and then its electroencephalography(ECoG) was monitored to see anticonvulsant effects of the drugs. It was found that seizure activities in ECoG were not always in proportion to clinical signs induced by soman intoxication, and that combinative pretreatment with physostigmine plus procyclidine effectively stopped the seizures induced by organophosphorous poisoning.

In this paper, the study was conducted on the subject of the hybrid electric vehicles used by the military, and optimized the propulsion system for fuel economy considering energy supply to the mission equipments. For the analysis of the vehicles, a method based on the geometry and some assumptions was applied with basic vehicle dynamics. The sources of energy supply in the military hybrid electric vehicles are an engine, a battery and an ultra-capacitor. The optimal operation point among an engine, a battery and an ultra-capacitor can be found by minimizing energy consumption of driving power train and mission equipments. In the study, it was possible to find the optimal propulsion system by comparing fuel efficiency of the vehicles during the driving cycle.