Global path planning for autonomous driving of unmanned ground vehicle is essential. When setting global path planning, its accuracy and effectiveness is increased if useful information such as terrain type of driving route has been reflected on global path planning. As a method to reflect the terrain type, there is a method to perform global path planning by applying the weight to each terrain type. At this time, how to assign appropriate weights corresponding to the terrain type is more important than anything. In this paper, we proposed a method to determine the weight for terrain type that may affect the results of global path planning. Moreover, we presented effective operation method and design results(GUI) to check the possibility of the use of the proposed method.

Insensitive Munition(IM) reduces the explosive weakness of munitions, at the same time, maintains its performances in the moment of discharge, which improves safety of soldiers and minimizes unexpected accidents and casualties from being shot in case of transportation, storage and military operation. Development of IM has been focused as the global trend, which was required to satisfy the demand of army that is to minimize the loss of non-battle forces and to retain the competitiveness in export abroad. In this study, we categorize all the munitions used by ROK Army, then determine the priority of IM by deploying AHP(Analytic Hierarchy Process) method. In conclusion, we suggest the priority of IM which is suitable to the affairs of ROK Army.

The silencer for the medium caliber gun was studied to reduce the propagation of gun-generated noise from the firing test range to the community. Three types of silencer were made to compare the reduction of sound pressure level and the effect of chamber volume and the exit angle to the reduction of sound pressure was considered. The structural analysis and measurement of pressure in the silencer showed that the structure is safe in terms of strength. The increase of recoil force to buffer must be considered in the development of silencer. The hypothesis test on the muzzle velocity for the existence of silencer showed that there are no difference at the significance level of 0.05.

Since the technology of anti-ship missiles has advanced rapidly, defending battleships from the threat of anti-ship missiles is a crucial factor for the survival of warships. In this paper, we analyze the performance of an anti-ship missile defense system whose name is Close-In-Weapon-System. We show the survival probability of a warship equipped with the Close-In-Weapon-System as the number of anti-ship missiles attacking the warship varies. Because of the complex and dynamic operational characteristics surrounding the Close-In-Weapon-System such as speed of missiles, different range of an individual weapon in the weapon system, and the continuous change of the kill probability of the missiles corresponding to the distance of missiles from ships, few work has been done for the performance of Close-In-Weapon-System. We present a model to incorporate all the dynamic characteristics of the system using absorbing Markov Chain. With our results, we expect commanders of warships equipped with Close-In-Weapon-System to be provided with more helpful information on how to deal with the anti-ship missiles.

In this paper, I have measured NCO(Network Centric Operation) Effectiveness of Anti-piracy Operation at the Chunghae Unit. For quantitative analysis, Network Centric Operations Conceptual Framework(U.S Office of Force Transformation) is applied. In accordance with the framework, the Chunghae unit anti-piracy operation scenario is analysed. The scenario is devided with two case(only voice communication and networking). The element of analysis be composed of the organic information, networking, share-ability, and individual information. As a result of analysis, the individual information of first case(only voice) gets 0.59 points. The other side, second case (networking) gets 1 points. This means that NCO has effect on the Chunghae Unit's mission. In addition, I stated the tactics advantage of NCO related a fighting power.

The paper is written to determine the optimal search pattern through search effects assessment on underwater targets. 5 types of search patterns are introduced such as, M-type pattern, W-type pattern, rectangular pattern, 4-type pattern and square pattern, In addition, Operational effectiveness analysis model is developed to obtain the optimum search pattern. The algorithms and mathematical models are also suggested to analyze the required search times, AUV's movement patterns, moving distances, overlapping areas and so on.

The stealth performance of supersonic aircraft in recent air battlefield is one of the most significant feature for latest fighters. Especially, as the technology is advancing, the IR stealth capability becomes more important because of its passive characteristic. To design an aircraft with stealth capability, we must know how much the IR signature is generated from the aircraft. Also, predicting the IR signature of enemy's aircraft is tactically crucial. In this study, we calculated MWIR and LWIR infrared signature of $5^{th}$ generation supersonic aircraft against air-to-air and surface-to-air threat using IR simulation code and CFD coupled procedure.

For decades, modeling of pilots has been intensively studied due to its advantages in reducing costs for training and enhancing safety of pilots. In particular, research for modeling of pilots' non-kinetic behaviors which refer to the decisions made by pilots is beneficial as the expertise of pilots can be inherent in the models. With the recent growth in the amount of combat logs accumulated, employing statistical learning methods for the modeling becomes possible. However, the combat logs consist of heterogeneous data that are not only continuous or discrete but also sequence independent or dependent, making it difficult to directly applying the learning methods without modifications. Therefore, in this paper, we present a kernel function named hybrid sequence kernel which addresses the problem by using multiple kernel learning methods. Based on the empirical experiments by using combat logs obtained from a simulator, the proposed kernel showed satisfactory results.

In this paper, we propose a novel method which can be applied to test and verify the stabilization-tracking performance of Gun/Turret Driving System(GTDS) for Light Armed Helicopter(LAH). In real system, GTDS is connected to TADS/SMC and drived to aim at the target with 20mm gun. But each equipment is separately developed during exploratory development stage, so GTDS cannot be tested under real system state. We suggest new configuration of test system for evaluating the stabilization-tacking performance, in which TADS and SMC are replaced by vision acquisition unit and processing unit, respectively.

EO GRD(Ground Resolved Distance) resolution of airborne EO/IR(Electro-Optical/Infrared) sensor is a critical factor in test and evaluation for EO sensor performance. We propose the laboratory measurement set-up for EO GRD by constructing optical collimator which includes integrated sphere, blackbody, equivalent 3-bar target and 6 DOF motion simulator. GRD is measured in the photographic imagery of bar targets by 3 different distances for 3 EO/IR sensors and the measured results were analyzed statistically. We found that at least 7 sheets of imagery are needed in order to obtain meaningful EO GRD. The result of statistical analysis shows that the distribution of the measured GRD is nearly symmetric about the average GRD, and the better imagery ratio above the average GRD is about 40~70%. Also from the best GRD analysis, it is estimated that the design goal for EO GRD should be 30% superior to the required GRD.

The gridded 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. But it is difficult to represent the natural phenomenon such as sea mount, internal-wave, warm eddy in modeling or observation because of increase in the complexity of model. This paper introduces the algorithm artificially representing the natural phenomenon and the techniques applying it to the gridded volume data and smoothing for natural effects. Moreover, the inserted results are analyzed by use of graphical tool. The results can be used for the battle simulation or acoustic model.

Recently many studies of Radar systems mounted on ground vehicles for autonomous driving, SLAM (Simultaneous localization and mapping) and collision avoidance are reported. In near field, several hits per an object are generated after signal processing of Radar data. Hence, clustering is an essential technique to estimate their shapes and positions precisely. This paper proposes a method of grouping hits in range-doppler domains into clusters which represent each object, according to the pre-defined rules. The rules are based on the perceptual cues to separate hits by object. The morphological connectedness between hits and the characteristics of SNR distribution of hits are adopted as the perceptual cues for clustering. In various simulations for the performance assessment, the proposed method yielded more effective performance than other techniques.

This paper considers a distributed telemetry system using retransmission algorithm with one master telemetry and two slave telemetries. The master telemetry merges data from each slave telemetry and own measured data. If there exist some errors in data from the slave telemetry, the master telemetry requests retransmission to corresponding slave telemetry. In this paper, we propose a retransmission algorithm applied to implementing the distributed telemetry system. Simulation results demonstrate that the retransmission improves the performance of the communication between the master and slave telemetries.

GC-TSQ CI technique was applied for analysis of samples for the $32^{nd}$ OPCW proficiency test. Eight chemical weapon convention(CWC) related chemicals were identified by product ion mode analysis with GC-TSQ in the samples. Choice of specific precursor ion made it possible to supply selective total ion chromatograms(TICs) of target molecule. GC-TSQ CI anaylsis technique was useful method for chemical warfare agent verification because analysis selectivity was improved by choice of mother molecule as precursor ion and gave mass spectra.

The infrastructure of North Korea has serious problems such as stability, usability, and durability because the facilities were built a long time ago. In recent years, the infrastructure improvement of North Korea has emerged as the important issue to preparing for reunification. However, there are no research institutions about the infrastructure in South Korea as well as the experts for operating or constructing the infrastructure. Therefore, the objective of this study is to propose the military use of infrastructure in North Korea by analyzing various data. The facilities such as road, railroad and electricity has been focused in this study. In the future, if the more specific data regarding condition and problems in each facility are collected, the more detailed military use of the infrastructure of North Korea can be suggested.

PBX simulant is known to exhibit highly nonlinear behaviors of deformation such as the stress softening, hysteresis under cyclic loading, residual strain after unloading, and aging. This paper proposes a new pseudo-elastic model for PBX simulant considering stress softening and residual strain. Uniaxial loading and unloading tests at quasi-static states were carried out in order to obtain the mechanical properties of the PBX simulants. And then the Dorfmann-Ogden model is modified to make it consistent with the test result of PBX simulants. Prediction with the new model shows a good correspondence to the experimental data demonstrating that the model properly describes stress softening and residual strain of PBX simulants.

This paper introduces a Korean rescue robot and presents a whole body kinematic control strategy. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility in the battlefields, hospitals and hazardous environments. In order for a robot to rescue and assist humans, reliable mobility in various environments, large load carrying capacity, and dextrous manipulability are required. For these objects the robot has variable configuration mobile platform with tracks, dual arm manipulator, and two types of grippers. The electric actuators provide the strength to lift a wounded soldier up to 120 kg using whole body joints. To control the robot with multi degree of freedom, we need to synthesize complex whole-body behaviors, and to manage multiple task primitives systematically. We are to present a whole body kinematic control methodology, and demonstrate its effectiveness through numerical simulations.

In the present study, the flow around a circular cylinder at $Re=3.6{\time}10^6$ is numerically simulated using URANS approach. The objective of this study is to evaluate the turbulence models(Realizable k-${\varepsilon}$, RNG k-${\varepsilon}$) through the prediction of the unsteady flow characteristics around the cylinder. The time-averaged drag coefficients and vortex shedding phenomenon in the wake region are compared to available experimental data and other numerical results. The simulation with Realizable k-${\varepsilon}$ model is found to be more dissipative due to large eddy viscosity predicted in the wake region while the simulation with RNG k-${\varepsilon}$ model predicts a complex vortex shedding phenomenon with more coherent structures realistically.

Arleigh Burke(DDG-51) and Sejong warship are AEGIS destroyer of US Navy and Korea Navy. These are designed to make more than 30knots by applying a COGAG(COmbined Gas turbine And Gas turbine) system. However, the gas turbine(LM2500) in this system has a low SFC (Specific Fuel Consumption) when the warship operated low speed. So, many kinds of companies are researching the HED(Hybrid Electric Drive) system to improve this problem. The purpose of this paper is to analyze the HED system and simulate by Sejong warship data. Serveral methods were used for that purpose. More specifically, the equipment modeling are employed for regression analysis by LabVIEW. As a result, it was found that the warship installed HED system could cut their fuel bills by as much as about 80,000,000won per year.