Nowadays, research on human-robot interaction has been getting increasing attention. In the research field of human-robot interaction, speech signal processing in particular is the source of much interest. In this paper, we report a speaker localization system with six microphones for a humanoid robot called MAHRU from KIST and propose a time delay of arrival (TDOA)-based feature matrix with its algorithm based on the minimum sum of absolute errors (MSAE) for sound source localization. The TDOA-based feature matrix is defined as a simple database matrix calculated from pairs of microphones installed on a humanoid robot. The proposed method, using the TDOA-based feature matrix and its algorithm based on MSAE, effortlessly localizes a sound source without any requirement for calculating approximate nonlinear equations. To verify the solid performance of our speaker localization system for a humanoid robot, we present various experimental results for the speech sources at all directions within 5 m distance and the height divided into three parts.

For developing standard method for diease, pest and weed control in environmental friendly ‘Ssam’ vegetable cultivation, this study was carried out to investigating agriculture material use in organic agriculture and no pesticide cultivation for lettuce, kale, leafy perilla and korean cabbage. The 28.6% of investigated farmer carried out seed sterilization by seed selection with salt solution and soaking in chitosan that not validated. For raising seedling periods, the 55.6% of farmer did not use environmental-friendly agriculture material for, diease control and the 50% of farmer used one time for. pest control. Therefore, the control of disease and pest could be achieved with one or two times use of environmental-friendly agriculture material. Seed sterilization was carried out by soil solar sterilization, one time per year in 71.4% of farmer. Weed was controled by black PE film for weed germination of furrow in many farmer, by man-power weeding for weed of ridge in 85% of farmer and by machine weeding and mulching in some farmer. During cultivation period, the major pest were Aphis gossypii in lettuce, Plutella xylostella in kale, Plutella xylostella and Phyllotreta striolata (Fabricius) in korean cabbage and Pyrausta panopealis (Walke) in leafy perilla. The many farmers used environmental-friendly agriculture material for control of pest over 10 times for spring season, and more used sold materials in market than home-made materials. In result, it needs to develop standardized method and validate cultivation methods for control of disease and pest, and seed sterilization treatment environmentalfriendly ‘Ssam’ vegetable.

A network-based robot [1] is a robot that explores service servers in the network environment for analyzing sensor data and making decision. Since network-based robot architecture was proposed, it’s possible to reduce costs of robots. We hope robots would be all around at home environment. Therefore, normal users who are not experts need to be able to control those robots by using easy commands. We developed a scripting language, named CCSLR, to help users and developers who control various robots in ubiquitous environment. We focused on how to design the common language for various robots and how to translate a CCSLR script into a sequence of low-level commands of the target robot. In this paper, we propose scripting methods, with three layers. The CCSLR system reads the profile information from the knowledge representation database. Users don’t have to know all about kinematical and mechanical details of a robot. Then again, the CCSLR system will use the profile information to translate the script into separated executable library commands. The CCSLR system manages robot’s changing state every time a robot executes a command.

The potential of the predatory mite Phytoseiulus persimilis (Acarina : Phytoseiidae) to control two spotted spider mite Tetranychus urticae (Acarina : Tetranychidae) was investigated on sustainable strawberry fields in Jeonnam area. The density of T. urticae increased from 4th and 7th weeks after single and two timings release P. persimilis, respectively. On the three timings of release plot, number(density) of T. urticae on a leaf maintained fewer than 10 during the 15 weeks after release. In the 1,000 release of P. persimilis per 100㎡ plot, P. persimilis could not suppress T. urticae. In the 2,000 release plot, P. persimilis could suppress T. urticae with low density which was the similar in the 3,000 release plot. Twospotted spider mite, T. urticae, occurred from late March and increased density in Hampyeong area. In the P. persimilis released field, T. urticae inhibited continuously after release. In Boseong area, density of P. persimilis increased 50 per 10 leaves through increasing of T. urticae. Percent of occurrence of T. urticae showed high 10.5~75.5% in none-release predatory mite but not high in release treatment. T. urticae on sustainable strawberry field could be inhibited by P. persimilis.