In this study, emission characteristics of odorants from boiled egg samples were measured through time between fresh and decayed status. Air samples released from boiled egg were collected and analyzed five different periods during the whole experimental period set for 9 days. The concentrations of reduced sulfur compounds (RSC), carbonyl compounds (CC), and NH₃ were generally higher than others like volatile organic compounds over the entire period. Among target compounds, the concentration of H₂S recorded the maximum value of 3.65 ppm immediately after boiling which indicates its maximum contribution as odorant in fresh stage. In addition, some odorants (i.e. CH₃SH, AA, PA, BA, and VA) were detected in the range of 7.52 to 50.8 ppb. Emission of most odorants generally decreased after 1 day of boiling, although their concentrations increased again after 3 days to reach the peak values after 6 days. The dilution-to-threshold (D/T) ratio measured by air dilution sensory test samples between fresh and decayed egg showed patterns similar to H2S. In addition, the result of correlation analysis indicated that there is a strong relationship (p＜0.01) between complex odor and H₂S.

In this study, odorous emissions from decaying foods were investigated with respect to trimethylamine and ammonia. To this end, three food types (egg, mackerel, and cuttlefish) were used for decaying experiments in which food samples were preserved in throwaway syringes (weight for each sample of 5 g). All decaying experiments advanced for one month under the normal temperature and ventilation. The average concentrations of TMA from egg, mackerel, and cuttlefish samples were measured as 0.6, 5.8 and 130 ppm, respectively, while those of NH₃ as 554, 385, and 531 ppm, respectively. According to our experiments, the concentrations of TMA and NH₃ increased with the progress of corruption. The release of malodor compounds tend to vary sensitively with the changes in temperature and humidity. In case of TMA, a strong correlation with temperature was observed on the order: mackerel ＞ egg ＞ cuttlefish. However, in the case of NH₃, strong correlations were seen to exist with humidity. Changes of TMA concentration were accompanied by changes of pH, especially from mackerel and cuttlefish. NH₃ also showed a similar trend of pH change from samples. When the results of TMA measurements were evaluated in terms of odor intensity, egg, mackerel, and cuttlefish are recorded as 4.36, 5.25 and 6.46, respectively. Likewise, odor intensity of NH₃ measurements was found as 6.96, 6.7 and 6.93, respectively. The results of our odor study suggest that a unique pattern of odor release is developed from decaying food samples.

This paper presents a task planning system for a steward robot, which has been developed as an interactive intermediate agent between an end-user and a complex smart home environment called the ISH(Intelligent Sweet Home) at KAIST(Korea Advanced Institute of Science and Technology). The ISH is a large-scale robotic environment with various assistive robots and home appliances for independent living of the elderly and the people with disabilities. In particular, as an approach for achieving human-friendly human-robot interaction, we aim at 'simplification of task commands' by the user. In this sense, a task planning system has been proposed to generate a sequence of actions effectively for coordinating subtasks of the target subsystems from the given high-level task command. Basically, the task planning i s performed under the framework of STRIPS(Standard Research Institute Problem Solver) representation and the split planning method. In addition, we applied a state-partitioning technique to the backward split planning method to reduce computational time. By analyzing the obtained graph, the planning system decomposes an original planning problem into several independent sub-problems, and then, the planning system generates a proper sequence of actions. To show the effectiveness of the proposed system, we deal with a scenario of a planning problem in the ISH.