An optimal path generation method considering the safety of UGV(Unmanned Ground Vehicle) is proposed and demonstrated through examples. Among various functions of UGV, real-time obstacle avoidance is a key issue to realize realistic scenario in FCS(Future Combat Systems). A two-dimensional narrow corridor environment is considered as a test field. For each step of UGV movement, two objectives are considered: One is to minimize the distance to the target and the other to maximize the distance to the nearest point of an obstacle. A weighted objective function is used in the optimization problem. Equality and inequality constraints are taken to secure the UGV's dynamics and safety. The weighting factors are controlled by a fuzzy controller which is constructed by a fuzzy rule set and membership functions. Simulations are performed for two cases. First the weighting factors are considered as constant values to understand the characteristics of the corresponding solutions and then as variables that are adjusted by the fuzzy controller. The results are satisfactory for realistic situations considered. The proposed optimal path generation with the fuzzy control is expected to be well applicable to real environment.

In this paper, we have proposed a integrated dynamic control architecture in 6WD(wheel drive)/6WS(wheel steering) vehicle for military applications. Since 6WD/6WS vehicle has inherent redundancy, the input variables to make any desired vehicle motion can not be determined uniquely. Therefore, optimal distribution method of tire forces is introduced, which is based on workload of each tire. Simulation result shows that this is effective for the energy minimization and dynamic performance enhancement. We also suggest how the integrated control with any failure mode should be reconstructed.

There have been a lot of efforts on the improvement for the ride comfort and handling stability of the combat vehicles. Especially most of vehicles for military purpose have bad inertial condition and severe operating condition such as the rough road driving, and need a high mobility in the emergency status. It is necessary to apply the controlled suspension system in order to improve the vehicle mobile stability and ride comfort ability of crews. A feasibility study is performed on the application of the semi-active suspension system with a magneto-rheological controlled shock absorber for a $6{\times}6$ combat vehicle. First, the dynamic simulation model of the vehicle including the control model for the semi-active suspension system was executed. Based on this model, a hardware-in-the-loop simulation(HILS) system which has a semi-active suspension controller hardware was constructed. After full vehicle simulations were performed in virtual proving courses with this system, the semi-active suspension system was proven to give better ride comfort and handling stability in comparison with the conventional passive suspension system.

A soft-recoil or FOOB (Fire-Out-Of-Battery) system can reduce the recoil force considerably. Its firing sequency is different from that of a conventional or FIB (Fire-In-Battery) system. In FOOB system, the gun is latched and preloaded in its battery position prior to firing. When unlatched, the gun is accelerated to the forward direction and then the forward momentum of the recoil part is generated. Since this momentum reduces the recoil impulse, the recoil force will decrease significantly. When designing the soft-recoil system it is important to design the forward momentum profile of a recoiling part. In the present study, the method to determine the forward momentum has been studied and its optimum value has been obtained theoretically. The numerical simulation of the soft-recoil system is performed to show that the present soft-recoil system works functionally well.

This paper shows accuracy comparison results of reliability estimation methods for one-shot systems such as ammunitions. Quantal-response data, following a binomial distribution at each sampling time, characterizes lifetimes of one-shot systems. Various quantal-response data of different sample sizes are simulated using lifetime data randomly sampled from assumed weibull distributions with different shape parameters but the identical scale parameter in this paper. Then, reliability estimation methods in open literature are applied to the simulated quantal-response data to estimate true reliability over time. Rankings in estimation accuracy for different sample sizes are determined using t-test of SSE. Furthermore, MSE at each time, including both bias and variance of estimated reliability metrics for each method are analyzed to investigate how much both bias and variance contribute the SSE. From the MSE analysis, MSE provides reliability estimation trend for each method. Parametric estimation method provides more accurate reliability estimation results than the other methods for most of sample sizes.

The Mission environment of UGV(Unmanned Ground Vehicle) has a complexity and variety, and the status of system and sensor is dependent on the environment factors such as operation time, the weather and road type. It is necessary for UGV to cope adaptively with the various mission types, operation modes and operation environment as human operators do. To satisfy this necessity, we present an autonomy manager based on the autonomous architecture. In this paper, we design a path planning software architecture and LPP manager by using open autonomous architecture which is previously designed by ADD. Field test is conducted with UGV in order to verify the performance of LPP Manager based on the Autonomous Architecture with scenarios.

Rifling force has a torsion impulse effect on the gun tube and thus generates undesirable vibration of the gun tube about its bore axis, putting additional stress on the projectile. High rifling force at the muzzle of the gun tube may adversely influence the trajectory of the projectile. And, the service life of rifled gun barrels is known to depend on the rifling force. Rifling force along the path of the projectile in the longitudinal direction of the gun tube can be described with projectile mass, projectile velocity, gas pressure curve and rifling angle. Under the same conditions, the character of the rifling of the gun barrel decisively influences the rifling force curve. To reduce the above mentioned harmful effect, locally distinct maximum of rifling force has to be avoided and maximum rifling force needs to be minimized. The best way to minimize the maximum rifling force is to design a rifling angle function so that the rifling force curve has a near trapezoidal shape. In this paper a new approach to make the optimal rifling force curve is described. The rifling angle determining the rifling force is developed by combined Fourier series and polynomial function to satisfy both the convergence and boundary condition matching problems.

For the autonomous navigation of an unmanned ground vehicle in the rough terrain and combat, the dust environment should necessarily be overcome. Therefore, we propose a robust obstacle detection methodology using laser range sensor and radar. Laser range sensor has a good angle and distance accuracy, however, it has a weakness in the dust environment. On the other hand, radar has not better the angle and distance accuracy than laser range sensor, it has a robustness in the dust environment. Using these characteristics of laser range sensor and radar, we use laser range sensor as a main sensor for normal times and radar as a assist sensor for the dust environment. For fusion of laser range sensor and radar information, the angle and distance data of the laser range sensor and radar are separately transformed to the angle and distance data of virtual range sensor which is located in the center of the vehicle. Through distance comparison of laser range sensor and radar in the same angle, the distance data of a fused virtual range sensor are changed to the distance data of the laser range sensor, if the distance of laser range sensor and radar are similar. In the other case, the distance data of the fused virtual range sensor are changed to the distance data of the radar. The suggested methodology is verified by real experiment.

This paper presents a numerical evaluation of the launch dynamics and thermo-fluid phenomena for gas generator launch eject system. The existing gas dynamic model for launching eject body used ideal gas and adiabatic assumption with empirical energy loss model. In present study, a turbulent Navier-Stokes solver with CHIMERA mesh is employed to predict the detail unsteady thermo-fluid dynamics for the launched body. The calculation results show that proper grid number is necessary for good agreement with experimental data. The important effects for accurate prediction are a gap distance and thermal boundary condition on the wall. The computational results show good agreement with experiment data.

This paper describes on methods in test and evaluation of the guided rocket munitions of the domestic new generation multiple launcher rocket system. We modified and refer to the present model of air-to-air missile(AAM) and surface-to-air missile(SAM). Also we suggested a method of surface-to-surface missile(SSM) based on the characteristics of the guided rocket in test and evaluation(T&E). According to this study, the suggested activity of T&E should be observed methods compatible with each item on the established model. Therefore, we expect that the proposed research material will be a good guide to the study of a surface-to-surface missile(SSM) installed GPS/INS integration navigation guidance & control systems in the future.

The analysis of water-entry impact forces acting on the fin shaft of high speed water-entry body is described. During the entry of high speed body into water, the physical phenomenon and flow properties are analyzed. A proper analysis model is established and the method to estimate the flow force which causes impact torque at the fin shaft is described. It is assumed that the fin shaft is damaged by the force which is induced by contacting with cavity wall. The pressure distribution of fin and the maximum torque are estimated and compared with breaking force. Conclusively, it is hard to resist water-entry impact force in terms of the reinforcement of fin shaft. Additionally safe equipment is essentially required.

This study investigates effects of three different parameterizations of vertical mixing scheme on upper ocean simulation of the East Sea, focusing on the seasonal variations of the sea surface temperature(SST) and the mixed layer depth(MLD) using an ocean general circulation model(GFDL MOM1.1). The considered vertical mixing schemes are the Laplacian scheme(L scheme) that use a constant eddy coefficient, the Mellor-Yamada scheme(MY scheme), and a new scheme(Noh scheme). The Noh scheme, a second-order turbulence closure, was developed considering recent observational evidences such as the enhancement of turbulent kinetic energy near the sea surface. During summer L scheme underestimates the SST, while MY scheme overestimates the SST, compared to climatological SST. Noh scheme produces the SST in better agreement with climatological one. During winter all schemes overestimate the SST up to $4^{\circ}C$ compared to climatological SST. Vertical profiles of the basin-mean temperature show that L scheme produces higher temperature below the thermocline than those of other schemes. The winter MLD simulated from L scheme is rather large compared to that from other schemes, but the differences in MLD during summer are not significant.

This paper examined the probabilistic load analysis for the tailplane during pitching maneuvering in the conceptual aircraft design phase. The flight load analysis based on the probabilistic distribution of design variables are compared with the results of the deterministic analysis. Two forms of variable distribution are used in this paper. One is standard normal distribution, the other distribution is calculated from the results of short-period longitudinal equation of aircraft motion. The influence of the distribution parameter on the probabilistic load analysis was investigated and the significant design variables that have an impact on the mean and variance of probabilistic load were identified. The comparison indicates that probabilistic load analysis provides more reliable probabilistic load distribution for the structural design than the traditional deterministic analysis.

Database for the damage reference by armor piercing bullet test was established for both tube and plate specimens having a range of thickness. As the inclined angles of hit are increasing, it has been found that penetration damage diameter tends to increases accordingly in both specimen of the tube and plate, and such penetration damage diameter on the rear side becomes bigger than those on the front side. The tube specimen showed that the damage becomes bigger when central areas rather than the peripheral were hit. Through the plate test, it also has been found that the penetration ballistic limit for Al alloy is about 25.4mm and that of stainless steel about 12.7mm. From the fatigue analysis results using the database for damage reference, it has been identified whether the safety requirements of military aircraft could be met.

In this paper, we designed self-frequency synchronizing circuit using image rejection mixer(IRM) and single-sideband(SSB) up-converter which can effectively eliminate the image frequencies occurred in multi-channel super-heterodyne receivers and help us to match inter-channel phase. Also the self-frequency synchronizing circuit simplifies system because there need no extra devices for making intermediate frequency(IF) by creating the local signal within several nanoseconds by means of generating the same frequency of IF signal and modulating radio frequency(RF) signal. We adopt the limiting amplifier for the purpose of protecting the circuit from spurious signals which come from the front end side having wide instantaneous bandwidth characteristics and constantly injecting same level into the input local signal of IRM. The IRM we fabricated has image rejection ratio of 27dB, which is good over 7dB for foreign company's. Also, the SSB up-converter we fabricated has 1dB compression point of 18dBm, which is good over 16dB for foreign company's. And the size is compact about one-forth.

Korea Department of Defense has been developing Link-K, Korean Joint Tactical Datalink, to support their independent joint operations and trying to enlarge the scope of Link-K tactical message delivery to nodes in IP based tactical networks for sharing situation awareness more broadly. A Link-K tactical message size is too small to fit into an IP packet, inefficiently wasting most of the IP packet space of the low bandwidth IP-based tactical networks. This paper proposes a new Link-K tactical message aggregation and delivery method when tactical messages need to be sent to some nodes located at IP-based tactical networks. With numerical analysis and OPNET simulation studies, we prove the effectiveness and efficiency of the proposed method.

This paper describes the design and fabrication of a high-efficiency GaN HEMT(Gallium Nitride High-electron Mobility Transistor) Pallet power amplifier module for S-band phased array radar applications. Pallet amplifier module has a series 2-cascaded power amplifier and the final amplification-stage consists of balanced GaN HEMT transistor. In order to achieve high efficiency characteristic of pallet power amplifier module, all amplifiers are designed to the switching-mode amplifier. We performed with various PRF(Pulse Repetition Frequency) of 1, 10, 100 and 1000Hz at a fixed pulse width of $100{\mu}s$. In the experimental results, the output power, gain, and drain efficiency(${\eta}_{total}$) of the Pallet power amplifier module are 300W, 33dB, and 51% at saturated output power of 2.9GHz, respectively.

A study for improvement of credibility on test & evaluation result of interoperability in battle management information system which focused in C4I systems is very essential in rapid change of battle field environment. Realization of effective operation process with integration of developed IT also core factor for reducing of operational response time such as information gathering from sensor to shooter, time for commander's decision making. Therefore, by required to meet of high technical T&E, meet of complex software's user requirement, long-term system development period, system integration ability's request by various linkage of systems, it is high a M&S dependency to optimal performance, interpoerability's guarantee. Especially credibility on test & evaluation using M&S is very important. This paper will propse a VV&A applied methods using other VV&A case to improve credibility of M&S on test & evaluation.

Victory and defeat of the war depends on follow-on logistics support. The spending time of follow-on logistics support at combat area is greatly influenced by the degree of combat intensity. The main purpose of this study is to compose a optimal supply route for operational sustainability of combat unit at combat area using transport vehicles. This study suggests a composition of optimal supply route for follow-on logistics support which considers the degree of combat intensity. A mathematical programming model and a genetic algorithm suggest to minimize the total spending time of follow-on logistics support. The suggested mathematical programming model is verified by using CPLEX 11.1. This study computes supply route, total spending time, total travel distance, and the number of transport vehicle.

The purpose of this paper is to propose a methodology that can estimate optimal requirement of attack helicopter Korea army will be operating in future. For estimating optimal requirement, attack helicopter's operation concept, performance, battlefield environment and enemy threat are considered. We use a wargame model, AAsim(Army Aviation simulation), as a analytic simulation model which is used to analyze DOTMLPF and operation in army aviation field. In this paper, we conduct battle experiment for anti armored corps operation which reflects attack helicopter's combat effectiveness very well. As a result of simulation, the destructive rate for enemy armored corps per each attack helicopter can be calculated. In this paper, we propose optimal requirement of attack helicopter using that destructive rate for enemy armored corps.

One of the considerations in weapon systems procurement is the objective of maximizing the current force. Also, offensive effects, rather than defense are valued in weapons system development and procurement. Especially, the survivability of a naval ship is equally important as the offensive effect of onboard weapons. In case of naval ships, development of attack tactics and research regarding damage minimization must be conducted through live fire exercise against actual targets in order to minimize damage from the enemy. However, it is difficult to conduct such adequate measures due to realistic limitations such as time and budget in order to verify and calculate a weapon system's attack and damage effects along with the lack of practical studies in this subject despite numerous interests. Research are being conducted utilizing M&S to estimate attack effects and study damages due to such reason, but the lack of authoritative data and development ability are limiting calculation of reliable results. Therefore, this study will propose a measure to increase survivability of a weapon system(ship/vessel) utilizing research of vulnerability from enemy attacks analysis method against a naval ship(Craft Air Cushion).

In this paper, we have proposed Architecture Development methodology which can connect both operational view and system view. The Functional Architecture can connect both user and developer, and it is located between Activity analysis and System analysis. We suggest the new architecture methodology using the Functional Architecture and it provides effect to analyze the connection between user(military) and developer(enterprise) in Defence R&D and the new Architecture with the feedback analyze activity on a point of system view and the new architecture make the functional architecture.

Borosilicate glass (81% $SiO_2$-2% $Al_2O_3$-13% $B_2O_3$-4% $Na_2O_3$) was prepared, and the glass was ion exchanged in $KNO_3$ powder containing different temperature and time. The $K^+-Na^+$ ion exchange takes place at the glass surface and creates compressed stress, which raise the mechanical strength of the glass. The depth profile of $Na^+$ and $K^+$ was observed by electron probe micro analyzer. With the increasing heat-treatment time from 0min to 20min, the depth profile was increased from 17.1um to 29.4um, but mechanical properties were decreased. It was also found out that excessive heat treatment brings stress relaxation. The Vickers hardness, Fracture Toughness and bending strength of ion exchanged samples at $570^{\circ}C$ for 10min were $821.8H_v$, $1.3404MPa{\cdot}m^{1/2}$, and 953MPa, which is about 120%, 180%, and 450% higher than parent borosilicate glass, respectively. Transmittance was analyzed by UV-VIS-NIR spectrophotometer. Transmittance of ion exchanged borosilicate glass was decreased slightly at visible-range. It can be expected that transparent bulletproof materials in more light-weight and thinner by ion exchanged borosilicate glass.

Borosilicate glass was prepared in the composition of 81% $SiO_2$, 4% $Na_2O$, 2% $Al_2O_3$, 13% $B_2O_3$. The albite phase($NaAlSi_3O_8$) increased with the $ZrO_2$(0~10wt.%) addition. For measurement of glass transition temperature($T_g$), crystallization temperature($T_{c,max}$) measured by differential thermal analysis. The $T_g$ and $T_{c,max}$ were $510{\sim}530^{\circ}C$ $650{\sim}670^{\circ}C$, respectively. The crystallized glass was heated at various conditions(temperature, time). After nucleation at $550^{\circ}C$ for 2hours prior to crystal growth at $650^{\circ}C$ for 4hours, the resulting Vickers hardness, fracture toughness and bending strength were about $736H_v$, $1.0779MPa{\cdot}m^{1/2}$, and 493MPa, which were 17%, 45% and 149% higher than parent borosilicate glass, respectively. Crystal size and transmittance of crystallized borosilicate glass were analyzed by FE-SEM, EDX and UV-VIS-NIR spectrophotometer. Transmittance of crystallized borosilicate glass was decreased with increasing $ZrO_2$(wt%) at visible-range. The results prove that light-weight bulletproof can be fabricated by the crystallization of borosilicate glass.

We have developed an imaging radiometer system at W-band. The system consists of lens, reflector, 30-ch receiver array, scanner, and signal processor. One receiver consists of a dielectric rod antenna, a balun, LNA(low noise amplifier) and a detector. The system configuration requirements are described. Finally, we represent radiometer images to obtain through clouds, smoke, dust, and other obstructions which render visible and IR systems ineffective.

Simulated target generators are used to evaluate the various radar performance. Using the radar parameters such as target range(time delay), doppler frequency, target RCS, simulated target generator can be developed. Especially moving targets are simulated by control time delay and update target signal intensive for target range. Base on this concepts, in this paper, simulated target generators are designed and developed for X-band Radar performance test. Developed equipment is evaluated its performance and then tested with X-band Radar. This paper presents these design, development, and test results of developed target generator.

This paper reports a safe and environmentally-benign demilitarization method for the K305 35mm CS gas grenades launcher set(also known as E-8 launcher). The launcher system was disposed by a two-step process; complete recovery of the explosive cords and the gas grenades from the launcher followed by incineration of the recovered items in the APE-1236 Flashing Furnace. All of the 64 grenades within the 16 tubes of the E-8 launcher were safely recovered and incinerated. In this study, 32 sets of the launcher were used to make a standard operating procedure for the safe demilitarization of the launcher system and the 35mm CS cartridges were all safely destroyed in the experimental burning tests meeting the related environmental regulations.

Hydrogen is the most abundant element in the universe. Although hydrogen can produce three times more energy than gasoline and seven times than coal, the most challenging problem in utilizing hydrogen as energy carrier is its storage problem. In contrast to the liquid hydrocarbon, hydrogen can not be stored or transported easily and safely because of its extremely low boiling point(21K). Recently scientists have made a tremendous achievement in storing hydrogen capacity in solid state materials such as carbon based and metal organic frameworks materials as well as metal hydrides. In this review the author reviewed the status of the hydrogen storage technologies in solid state, the advantages and disadvantages in each category of materials and the future prospects of hydrogen storage.

Since HEMP has the very short rising time and propagates widespreadly with several tens of kV/m, it threatens most of systems in its cover range. Therefore, it is important to research coupling mechanism into systems and establish countermeasures for the HEMP to protect systems effectively. This paper analyzed characteristics and trends of currents to be induced at the load of a line which is located over ground with different conditions such as polarization, incidence angle, line length and height etc. We applied double exponential waveform as the HEMP shape and used BLT method to analyze the coupling route into the line. Also, we compared the simulation data of chain matrix modeling to verify reliability of BLT modeling. In the result, two data is almost agreed.

In the last decade, hydrogen peroxide has received renewed interest as a green propellant which is non-toxic, environmentally clean and relatively easy to handle. This study was performed to acquire the design technique and combustion performance of a 200N bi-propellant engine using hydrogen peroxide and kerosene. The engine which used a catalytic ignition method was designed and cold flow tests were carried out to investigate atomization characteristics. Combustion tests including a pulse mode operation were performed to investigate the combustion performance on various O/F ratios. The results showed that the combustion efficiency and the repeatability of the engine performance were enough to use as an essential database for the development of a high performance engine.