Representing an environment as the probabilistic grids is effective to sense outlines of the environment in the mobile robot area. Outlines of an environment can be expressed factually by using the probabilistic grids especially if sonar sensors would be supposed to build an environment map. However, the difficult problem of a sonar such as a specular reflection phenomenon should be overcome to build a grid map through sonar observations. In this paper, the NRF(Neighborhood Recognition Factor) was developed for building a grid map in which the specular reflection effect is minimized. Also the reproduction rate of the gird map built by using NRF was analyzed with respect to a true map. The experiment was conducted in a home environment to verify the proposed technique.

자색고구마 색소 농축액의 유동특성을 원뿔형 회전점도계를 사용하여 가용성 고형분의 농도 25-65% 및 온도 20-6의 범위에서 조사하였다. 자색고구마 색소 농축액은 뉴톤성유체의 특성을 나타냈다. 자색고구마 색소 농축액의 점도의 온도에 대한 영향은 Arrhenius 식을 따랐으며, 활성화에너지는 14.23-43.00 kJ/mol로서 농도가 증가함에 따라 직선적으로 증가하였다. 자색고구마 색소 농축액의 점도와 온도 및 농도에 대한 관계를 조사한 바,

Anthocyanin 색소원(자색고구마, 꽃양배추, 적양배추, 포도, 흑미, 가지, 무화과)의 색가를 조사하고 이들 중 색가가 높은 자색고구마, 꽃양배추, 적양배추 및 포도과피를 선정하여 이들 색소의 안정성에 미치는 금속이온, ascorbic acid, 자외선 및 가열의 영향을 조사하였다. 자색고구마와 포도과피의 색소는 에 의해 색소의 안정성이 가장 크게 저하되었으며, 적양배추와 꽃양배추 색소는 모두 이온에 의해 안정성이 가장 크게 저하되었다.

Temperature, relative humidity and ventilation are closely related one another, and they are the main factors to be controlled for the environmental control system of a storage facility. Conventional environmental control systems do not consider the interrelationship between temperature, relative humidity and ventilation, which results in low performance and high energy consumption. To overcome the inefficiency of the conventional ones, it was developed an on-off control system based on the interrelationship between the factors. The usefulness of the system was illustrated with the results produced by a set of experiments in a real world.