In this paper, a method of generating path planning map is developed using digitalized geographic information such as FDB(Feature DataBase). FDB is widely used by the Army and needs to be applied to all weapon systems of newly developed. For the autonomous navigation of a robot, it is necessary to generate a path planning map by which a global path can be optimized. First, data included in FDB is analyzed in order to identify meaningful layers and attributes of which information can be used to generate the path planning map. Then for each of meaningful layers identified, a set of values of attributes in the layer is converted into the traverse cost using a matching table in which any combination of attribute values are matched into the corresponding traverse cost. For a certain region that is gridded, i.e., represented by a grid map, the traverse cost is extracted in a automatic manner for each gird of the region to generate the path planning map. Since multiple layers may be included in a single grid, an algorithm is developed to fusion several traverse costs. The proposed method is tested using a experimental program. Test results show that it can be a viable tool for generating the path planning map in real-time. The method can be used to generate other kinds of path planning maps using the digitalized geographic information as well.

This paper presents a new method of measuring the ground's gradient using LNS(land navigation system) navigation data. When a vehicle equipped with LNS arrives at any place, LNS provides its navigation data which contain the information on vehicle's motion. We developed some formulas which can explain correlation between the vehicle's motion and ground's gradient. The proposed method using those formulas is shown to be accurate and convenient.

Recently, the development of military system is focused on Network Centric Warfare. But, there is no deployed Command and Control System for Missile System in the country. Therefore, Command and Control System for Missile System was simulated to predict feasibility for the future development in this paper. The contents of the design and implementation for simulated system are described in details. Besides, a method for avoiding collisions in 1:N radio communication environment is proposed as the future work. The simulated system in this paper will be a help to developing Command and Control System for Missile System in the future.

During navigation of warships, sonar domes have been damaged by collision with floating objects like logs. In order to analyze the damage of a sonar dome from collisions with a log, The analytical method and the numerical analysis using ABAQUS are performed. Throughout the analytical method, the mechanism of collision between a sonar dome and log is analyzed. To design a sonar dome, the numerical analysis for A type sonar dome and the B type sonar dome have done considering fluid loading effect around the sonar domes with normal and maximum speeds of the ship, respectively. The numerical analysis results of the A type sonar dome and the B type sonar dome are compared and analyzed.

In this paper, the result of study on the effectiveness of anti-submarine defense plan according to the disposition of surface ships has been proposed. The surface ship carries a hull mounted sonar(HMS) as a underwater sensor and a torpedo acoustic counter measure(TACM) as a soft-kill weapon against torpedo attacks from the enemy. Nowadays these underwater systems have been combined into a integrated anti-submarine warfare combat system. And in the real anti-submarine operation environment, several surface ships cooperate for executing ASW plans. Considering these ASW systems and the ASW environment, the models of underwater systems mounted on an surface ship and the a general model of anti-submarine defense plan are proposed. And we designed a scenario for conducting simulations to evaluate the ASW plan according to the variation of the range and the relative angle between surface ships and a capital ship. The simulation results show the effectiveness of ASW plan depends on the formation of surface ships and a capital ship.

One of the most significant UUV(Unmanned Underwater Vehicle) applications is MCM(Mine Countermeasure), which makes good use of UUV characteristics to provide covert, rapid, controlled and efficient survey of a potential minefield without risking a human operator. In this paper, a survey of the today's MCM missions where UUVs will play a role, the vehicle systems that are either under development or planned in the future are presented. And examines principal technical challenges and outline new enabling technologies. Particularly, this paper analyses current approaches to tacking these technologies and technological limitation of UUVs as a MCM platform, and research efforts to develop the technology necessary to meet the domestic MCM mission needs.

The IDRS provides detection, classification and bearing/range estimation by performing wavefront curvature analysis on an intercepted active transmission from target. Especially, a estimate of the target bearing/range that significantly affects the optimal operation of own submarine is required. Target bearing/range can be estimated by wavefront curvature ranging which use the difference of time arrival at sensors. But estimation ambiguity occur in bearing/range estimation due to a number of peaks caused by high center frequency and limited bandwidth of the intercepted active transmission and distortion caused by noise. As a result the bearing/range estimation performance is degraded. To estimate target bearing/range correctly, bearing/range estimation method that eliminate estimation ambiguity is required. In this paper, therefore, for wavefront curvature ranging, NLS cost function with curve fitting method is proposed, which provide robust bearing/range estimation performance by eliminating estimation ambiguity. Through simulation the performance of the proposed bearing/range estimation methods are verified.

The importance of avionics systems has increased to a significant level in modern aircraft development. Modern avionics system is a complex integrated system of state-of-art hardware and software technology. Specifying the avionics system architecture is the most important task throughout the avionics system design process. This paper reviews modern avionics system architectures and proposes an effective avionics architecture suitable for modern attack helicopters.

This paper describes the development of pulse code modulation(PCM) data recorder with design, implementation and environmental test. PCM serial data that diverged from telemetry encoder output is used as the input and is reformed to parallel signal through FPGA processing. Controllers construct the packet by the sector and record it into non-volatile memory. Compact flash(CF) memory for data storage media, USB interface for data downloading, and a software for operating status diagnosis and file format conversion are used.

In this paper, the proper quantity of conditioning rounds has been studied using the statistical analysis on the basis of the acceptance test data of K676 and K677 propelling charge for K9 self propelled howitzer. In general, the muzzle velocity of the initial rounds tends to be a little lower than that of the succeeding rounds. The latter rounds are likely to have the constant velocities after firing the appropriate conditioning rounds. The main cause of velocity difference was proved to be the proper quantity of conditioning rounds by doing the correlation analysis among the initial tube temperature, the tube life and the quantity of conditioning rounds. The result of paired t-test shows that two rounds of conditioning projectiles are proved to be enough to maintain the constant velocity in the case of the acceptance test of K676 and K677 propelling charge.

In this paper, you can see the structure of data slaving software module that is in use on flight test and result of the test with the slaving. The data slaving software module has many functions, data slaving for various instrumentation systems(instrumentation radars, telemetry systems for missile, aircraft and so on), setting some slaving group for multi-target, communicating with the instrumentation systems in a far away site and sending a specific value as slaving data. This fits the requests for flight test that is being performed and improves performance of the instrumentation systems.

A new smooth bore test barrel was developed to be used in sensitivity assessment test for explosives and fragment impact test. The bore diameter of the barrel is 20 mm, and the powder chamber is designed to be replaceable with the 12.7 mm, 20 mm and 30 mm type chamber. The test results showed the wide range of fragment velocity from 400 to 2000 m/s, included the fragment velocity requirement of the fragment impact test(alternate procedure #1) in MIL-STD-2105B. The stability of the bullet trajectory was checked by test shots and the structural safety of the system has been confirmed through the stress analysis and the interior ballistics analysis of the barrel.

In this paper, we have designed the Anti-Aircraft Artillery(AAA) model for the surface-to-air virtual engagement. The AAA model for the virtual combat simulation needs to detect the present target and estimate the target flight trajectory to find the aiming point. To find collision point of projectile fired from the artillery with the moving air target, we have presented the estimating technique for artillery aiming point. And we have analyzed the target probability of kill using Calton Hit function. Anti-air threat envelops are presented when the target velocity, position and the arrangement of four AAA are varying. Then we have compared the analyzed result using developed model with AEM model of MSA program.

We can model marine uplink channel environment as time-correlated rician fading channel that has direct path and time varying reflected path. In this channel, error performance of uncoded system can be seriously degraded by multipath inteference. In this paper, we propose Concatenated Zigzag(CZZ) coded binary FSK signaling with noncoherent detection to improve error performance of uplink data in marine environment. CZZ code is a kind of channel coding scheme that is fast decodable as well as fast encodable. We have confirmed error performance of uplink data in marine environment can be improved dramatically through applying CZZ code.

SAR(Synthetic Aperture Radar) has the ability to generate high resolution images regardless of a weather condition(e.g. visibility good or poor and day or night, etc.). SAR is considered as one of the most important powers and needs for the future since it has been utilized in a number of important military fields such as early warning, urban defense, missile guidance system, etc. Additionally there are many civilian demands and applications in aviation, traffic control, earth and space explorations, weather forecast etc. This days, the ability to acquire and analyze information is needed to cope with the urgency of global politics and international changes. In this paper, technical survey and development review for SAR systems are investigated to derive the core and immature technologies of domestic defense industry.

Although multi-frame super resolution algorithm has many merits but it demands too much calculation time. Researches have shown that image processing time can be reduced using a CUDA(Compute unified device architecture) which is one of GPGPU(General purpose computing on graphics processing unit) models. In this paper, we show that the processing time of multi-frame super resolution algorithm can be reduced by employing the CUDA. It was applied not to the whole parts but to the largest time consuming parts of the program. The simulation result shows that using a CUDA can reduce an operation time dramatically. Therefore it can be possible that multi-frame super resolution algorithm is implemented in real time by using libraries of image processing algorithms which are made by a CUDA.

In this paper, we present the AFP(antenna front plate)s which were designed to reduce the reflection for the sake of the improvement of DF(direction finding) accuracy. The AFP consists of front plate, absorber and radome. The AFPs were optimized respectively by real test and we performed the DF test using our AFPs in laboratory. The DF test shows that the DF accuracy is about 2 times better than the requirement capability. Then, the DF field test was executed using the AFPs, which were installed in helicopter in consideration of the reflection by platform. The result of the DF field test is superior to the requirement capability also, which shows the validity of our design method.

In this paper, we propose a robust method which can detect and track a high-speed small approaching target in a cluttered environment for Korean Active Protection System. The proposed method uses a temporal and spatial filter, tracking filter to detect and track a single target in consecutive order. And it is comprised of a candidate target detection step, a prior target selection step and a target tracking. Field tests on real infrared image sequences show that the proposed method could stably track a high speed and small target in complex background and target occlusion.

Measurement time delay in the transfer alignment is very important. It has been well known that the time delay degrades the alignment performance and makes some navigation errors on the transfer alignment of slave INS(SINS). Therefore there are many schemes to eliminate that time delay but the compensation technique through the estimation by Kalman filter through modeling the time delay as a random constant is generally used. In the case of change over measurement time delay or the large measurement time delay, estimation performance in the existing compensation technique is degraded because model of time delay is not correct any more. In this paper, we propose the method to keep the time delay almost constant even though in the abnormal communication state and very small through feedback compensation using double buffer. Double buffer consists of two moving window to temporarily store measurements from master INS and slave INS in real time.

A closed-form technique is presented for estimating a single source location from a set of noisy time delay measurements between distributed sensors. The localization formula is derived from nonlinear least squares minimization over the unknowns of target range and bearing in polar coordinates. Computer simulation results are provided for the purpose of performance analysis. Constrained least squares minimization method with prior source location information is also discussed.

In this paper, we propose a novel method which can detect ordnance firing events in IR images. The proposed algorithm is comprised of effective target detection and robust clutter rejection methods based on the temporalspatial cooperative filter. And additional clutter reduction is performed based on the proposed two features, NTFF (Number of Temporal Filter Frames) and SNS(Size-Normalized Signal). Experimental results show the effectiveness and feasibilities of our proposed algorithm.

Edema factor(EF) is a portion of anthrax toxin which produces edema when combined with protective antigen. This paper describes about technique for cloning, expression, purification and activity test of EF. Using the E. coli expression system, we could make recombinant EF protein although it's origin is Bacillus anthracis. And also we could culture massively and purify highly pure protein. Finally we confirm a enzyme activity of purified EF to increase intracellular cAMP level. Through establishing this technique, it can be possible to research about EF in depth and apply to expression and purification of many other protein in biology.

To apply TMAH-based Py-MS to a field biological detection system for real-time classification of cell-type, reproducible patterns of the TMAH-based Py-MS spectra was known as a critical factor for classification but was seriously disturbed by quantity of cells injected into pyro-tube. This factor is an exterior variable that could not be complemented by improving the performance of the TMAH-based Py-MS instrument. One of idea to solve the knotty problem has been flashed from "Top-down proteomics for identification of intact microoganisms". That is, biomarker peaks are selected from complicate Py-MS spectra for intact microoganisms by tracing out their origins, based on Py-MS spectra for the featured components of different cell-types, in Top-down approach. This idea has been tested in classification of different Gram-type microoganisms. Through the analyses of spectra for the featured components - peptidoglycan and lipoteichoic acid for Gram-positive cells and lipopolysaccharide and lipid A for Gram-negative cells - with comparing to the spectra the corresponding Gram-type cells in the Top-down approach, biomarker peaks were selected to carry out PCA(Principal Component Analysis) in order to see classification of different Gram-types, resulting in significant improvement of their classification. Furthermore, weighting biomarker peaks on intact cell's spectra, based on the data for the featured components of the Gram-types, contributed to elevate classification performance.

Polymers containing tetrazole groups are very attractive as energetic materials. Copolymer having tetrazole groups could be obtained by 3-steps from commercially available epichlorohydrin. These methods provide a new synthetic pathway to construct polymers containing tetrazole groups from non-energetic polynitrile compounds. These polymers are expected to be good candidates for green and high energetic materials.

A fuel cell/secondary battery hybrid power generation system could extend well beyond the efficiency and interoperability of the conventional diesel generator. The suggested power source system consists of 2.3 kW class PEMFC, 100 Ah lithium polymer battery, and two DC/DC converters by serial connection type. It was known that interoperability of sub-systems is the key factor for stable and optimal control of the hybrid power generation system. The modeling and simulation methods have been proposed to reduce the number of configurations and performance tests for components selection and select the optimized control condition of the power generation system. The control model for power source system is implemented based on the empirical formulation and carried out in the Matlab/Simulink environment. The results show that the simulation can be used to establish the algorism of prototype and increase the durability of the power source system.

Thermally activated batteries have good stability, reliability and long shelf life. Due to these characteristics and operational mechanism, thermal batteries are usually applied to military power sources. Especially, Li/$FeS_2$ thermal batteries, which are used mostly in these days, use LiCl-KCl and LiBr-LiCl-LiF as electrolytes. The electrochemistry of thermal batteries have been researched for long time, however, electrochemical study using impedance spectroscopy was not published so much. Through this research, microscopic electrochemical research was investigated with electrochemical impedance spectroscopy(E.I.S). Electrolyte effects on Li/$FeS_2$ thermal battery was researched changing electrolytes, LiCl-KCl and LiBr-LiCl-LiF. Additionally, the salts, which are added to electrolytes, effects on thermal battery were researched. It is expected that the impedance spectroscopy analysis is applicable to not only thermal battery electrochemical study effectively, but also, thermal battery developments.