This work was studied the effects of spore density and infection of arbuscular mycorrhizal fungi (AMF) for no-tillage organic cultivation of pepper with wintering green manure crops cultivation in greenhouse field. Spore density of arbuscular mycorrhizal fungi (AMF) in green manure crops was 189 spores/30g fresh soils in control including alive spore (82 spores). Spore density of AMF in all green manure crops was totally 196~226 spores/30g fresh soil and alive spore was 84~112 spores/30g fresh soil. Spore density of AMF in soils of Pepper crop was range of 48.0~56.7 spores/30g fresh soils after cultivation of green manure crops. Infec-tion structure of AMF was not significantly difference in soils of green manure crops and Pepper crop after cultivation of green manure crops. Infection rate of AMF in roots of green crops was low level by 2.8% in giant chickweed, 7.4% in rye, 9.3% in hairy vetch. Infection rate of AMF in roots of barley was the highest level by 20.3%. Infection rate of AMF in roots of Pepper crop was range of 5.2~7.2% after cultivation of green manure crops Also, infection rate of AMF in roots of Pepper crop was 8.1% after the harvest of barley. Infection structure of AMF in barley very well consisted of network with internal hyphae, while hairy vetch and rye tended to no network. There was not a significant relationship between spore density in soils and infection rate of AMF in rhizosphere of Pepper.

This work studied the growth and yield of green crops, changes of mineral composition in greenhouse soil and green crops, and infection with wintering green crops cultivation in greenhouse field. At 74 days after seeding of wintering green crops, dry matter was 710㎏/10a in rye, 530㎏/10a in barley, 230㎏/10a in hairy vetch, and 240㎏/10a in bean or weeds. Total nitrogen content in green crops was 4.5% in pea and hairy vetch, and 3~4% in barley and rye. P₂O₅, CaO, and MgO contents in all green crops were about 1.0%, and K₂O content was the highest level by 4~5% among macro elements. Total nitrogen fixing content in shoot green crops uptaken from soil was 22.1㎏/10a in rye, 20.6㎏/10a in barley, 10.6㎏/10a in hairy vetch, and 9.6㎏/10a in pea and giant chickweed. P₂O₅ fixing content in shoot green crops uptaken from soil was 8.4㎏/10a in rye, 6.3㎏/10a in barley, and 2.3 ㎏/10a in hairy vetch and pea. K₂O fixing content in shoot green crops uptaken from soil was 28㎏/10a in rye, 24.7㎏/10a in barley, and 11㎏/10a in hairy vetch and pea. CaO fixing content in shoot green crops uptaken from soil was 2~3㎏/ 10a in all green crops, and MgO fixing content was 1.7~2.6㎏/10a in all green crops. Pepper growth in no-tillage was not a significant difference at all green manure crops. The number of fruit and fruit weight were higher in control, pea, hairy vetch and harvest barley than rye and barley. Soil mineral compositions in wintering green crops increased at pH, organic matter, CEC compared with control. Soil chemical compositions were stable level at green crops cultivation according as decreases of EC, available phosphoric acid, Ca, and Mg contents. After no-tillage by green manure crops, pH in soils was higher in green manure crops than control. EC content in soils was lower in green manure crops than control, and was remarkably low level in barley harvest. Organic matter content in soils increased in hairy vetch and barley green manure but decreased by 35% in barley harvest. Total nitrogen and avaliable P₂O₄ content in soils remarkably increased but was not a significant difference at all green manure crops. Cation (K, Ca, and Mg) content in soils decreased by 15~20% in K, 2~11% in Ca, and 3~6% in Mg at rye, barley and pea compared with control.

To establish the organic cultivation of pepper using green manure crops, this work studied the growth characteristics and yield of green manure crops, mineral composition of green manure crops, mineral uptake in shoots of green manure crops, chemical composition in soil of green manure crops, and the growth characteristics and yield of pepper in vinyl house. Shoot dry weight of green manure crops was higher level in Sorghum bicolor and Sorghum than in Crotalaria juncea and Glycine max. Also, the roots were spread deeply into soil in Sorghum bicolor and Sorghum. Density of root-knot nematodes in rhizosphere of green manure crops was significantly more decrease in Crotalaria juncea and Sorghum than in Glycine max and Sorghum bicolor. Total nitrogen and CaO content of green manure crops was significantly higher in Crotalaria juncea and Glycine max than in Sorghum bicolor and Sorghum. K₂O content was significantly higher in Sorghum bicolor and Sorghum than in Crotalaria juncea and Glycine max. MgO content was not significant difference at all green manure crops. Cations content ratio of K₂O : CaO : MgO was 3.4 : 1.4 : 1. Total nitrogen uptake in shoots of green manure crops was high level in Glycine max, Sorghum bicolor and Sorghum compared with in Crotalaria juncea. K₂O and MgO uptake was significantly higher in Sorghum bicolor and Sorghum than in Crotalaria juncea and Glycine max. Value of pH in soil of green manure crops was more increase in Crotalaria juncea and Glycine max than in Sorghum bicolor, Sorghum and control, but after cultivation of pepper pH in soil was recovered with initial soil pH before seeding of green manure crops. EC value in control, green manure crops, and pepper cultivation decreased by 44%, 15~18%, and 38~61% level, respectively, compared with initial soil of green manure crops treatment. K content in soil of control, Crotalaria juncea and Glycine max cultivation was increased by 14%, but the K content in soil of Sorghum bicolor and Sorghum decreased by 24~38%. Cation exchange capacity (CEC) in soil of Crotalaria juncea and Sorghum bicolor decreased by 11%, but CEC in soil of Glycine max, Sorghum and control increased by 11%. Harvest fruit yield was higher in Crotalaria juncea, Glycine max, and Sorghum bicolor cultivation than in control and Sorghum.

To investigate a comparison of rice yield and quality by a utilization of green crops using barley and hairyvetch, this study was carried out in rice (Oryza sativa L.) organic cultivation field. Convention barley harvest (CBH), Green barley crop (GBC), Green barley+Green Hairyvetch crop (GB+HVC), and Non-Green crop (NGC) were treated in rice cultivation field. The results obtained as following: 1) Culm length and pancile length in Convention barley harvest (CBH) cultivation were longer than organic cultivation but were not significant difference in all treatments. Yields of milled rice in Green barley crop (GBC) and Green barley+Green Hairyvetch crop (GB+HVC) were by 90.3% and 95.9%, respectively. 2) Protein contents in Green barley crop (GBC) and Green barley+Green Hairyvetch crop (GB+HVC) were by 5.7% lower than 6.6% in Convention barley harvest (CBH) cultivation. Amylose contents in all treatment were similar as range 18.8% to 19.1%. Whiteness contents in Green barley crop (GBC) and Green barley+Green Hairyvetch crop (GB+HVC) were slightly higher by 38.9% and 39.1%, respectively, than 37.7% in Convention barley harvest (CBH) cultivation. 3) Palatability values in Barley harvest (BH) and Non-Green crop (NGC) were slightly higher by 82.0 and 83.8, respectively, than 77.6 in Convention barley harvest (CBH) cultivation. 4) Head rice in Non-Green crop (NGC) was 95.5%, while that of Convention barley harvest (CBH), Green barley crop (GBC), and Green barley+Green Hairyvetch crop (GB+HVC) were slightly low as range 93.8% to 94.2%. White core and belly rice in Convention barley harvest (CBH) cultivation was the highest level by 1.7%. 5) Leaf blast, neck blast, sheath blight, rice stem maggot, rice leaf roller, rice leaf-tier, and green rice leafhopper were occurred lightly in rice field.

The human-following is one of the significant procedure in human-friendly navigation of mobile robots. There are many approaches of human-following technology. Many approaches have adopted various multiple sensors such as vision system and Laser Range Finder (LRF). In this paper, we propose detection and tracking approaches for human legs by the use of a single LRF. We extract four simple attributes of human legs. To define the boundary of extracted attributes mathematically, we used a Support Vector Data Description (SVDD) scheme. We establish an efficient leg-tracking scheme by exploiting a human walking model to achieve robust tracking under occlusions. The proposed approaches were successfully verified through various experiments.

For indoor mobile robots, the performance of autonomous navigation is affected by a variety of factors. In this paper, we focus on the characteristics of indoor absolute positioning systems. Two commercially available sensor systems are experimentally tested under various conditions. Mobile robot navigation experiments were carried out, and the results show that resultant performance of navigation is highly dependent upon the characteristics of positioning systems. The limitations and characteristics of positioning systems are analyzed from both quantitative and qualitative point of view. On the basis of the analysis, the relationship between the positioning system characteristics and the controller design are presented.

To investigate a comparison of rice yield and quality between organic and conventional cultivation, study for occurrence of rice diseases carried out in rice (Oryza sativa L.) field of Noahn and Bannam region. The results obtained as following: 1) Bactericide and insecticide were applied twice and four times at Noahn and Bannam region in conventional cultivation (C.C) of rice field, respectively, it was applied twice at two region in organic cultivation (O.C). Rice strip virus, leaf blast, neck blast, sheath blight, bacterial leaf blight, rice water weevil, rice leaf folder, and plant hoppers were occurred mainly in rice field. Leaf blast, neck blast, and rice leaf folder were occurred highly at O.C compared with C.C. 2) Growth level of rice in clum and panicle length was lower at O.C than C.C. Number of panicles per hill was by 0.6 higher at O.C than C.C. Number of panicles per hill was by 0.6 higher at O.C than C.C in Noahn region. Number of spikelets per panicle, grain filling ratio, brown/rough rice ratio, and weight of 1,000 grains was lower at O.C than C.C. Number of panicles per hill was by 0.8 lower at O.C than C.C in Bannam region. Number of spikelets per panicle and grain filling ratio was higher at O.C than C.C while brown/rough rice ratio was lower at O.C. Total yield percentage of rice in O.C was level of 84% at Noahn region and 94% at Bannam region compared with C.C. 3) Head rice percentage was lower at in O.C than C.C at two region. Protein and palatability (Toyo value) were lower at O.C than C.C in Bannam region causing occurrence of neck blast and rice leaf folder by oversupply of nitrogen fertilizer. Protein, whiteness, and palatability (Toyo value) were adequate level at O.C in Noahn region by lower nitrogen fertilizer.

The purpose of this study is to investigate an occurrence rate of rice stripe virus disease under different rice transplanting time and different rice cultivars. After final harvest, the yield of rice infected by rice stripe virus was obtained on Wangchal cultivar compared to uninfected rice. The results obtained as following: 1) Yield of rice infected by rice stripe virus was decreased by 64% with reduction of culm length, pancile length, number of spike, number of spikelet, and grain filling compared to uninfected rice, 2) An occurrence rate of rice stripe virus disease under different rice planting season was high as order of May 30 > June 15 > July 1. In additional, to reduce a rice stripe virus disease on higher disease occurrence region and susceptible cultivars, rice planting season will be accepted on and after June 15, and 3) Eighteen cultivars were resistance cultivars such as Hwayeongbyeo, Onnuri, Ilmibyeo, Nampyongbyeo, Dongjin2ho, Hopumbyeo, Hwangkeumnuri, Malgeumi, Saenuri, Pungmi1ho, Haechanmulgyeo, Hwangkeumnodeul, Chilbobyeo, Dongjinbyeo, Younganbyeo, Junambyeo, Samkwangbyeo, and Nakdongbyeo. Twenty-one cultivars were susceptible cultivars such as Odaebyeo, Unkwangbyeo, Shinungbong1ho, Manabyeo, Hopyongbyeo, Borami, Damibyeo, Hwangchalbyeo, Sulgengbyeo, Nongrim6ho, Sasanishigi, Yunishigari, Chungmubyeo, Dongjin1ho, Huknambyeo, Guromy, Shanghehanghulna, Heukchalbyeo, Heukhwangbyeo, and Aranghwangchalbyeo.

It is difficult to find a practical solution for the backward-motion control of a car-like mobile robot with n passive trailers. Unlike an omni-directional robot, a car-like mobile robot has nonholonomic constraints and limitations of the steering angle. For these reasons, the backward motion control problem of a car-like mobile robot with n passive trailers is not trivial. In spite of difficulties, backing up a trailer system is useful for parking control. In this study, we proposed a mechanical alteration which is connecting n passive trailers to the front bumper of a car to improve the backward motion control performance. Theoretical verification and simulations show that the backward-motion control of a general car with n passive trailers can be successfully carried out by using the proposed approach.

Recently, automatic parking assist systems are commercially available in some cars. In order to improve the reliability and the accuracy of parking control, pose uncertainty of a vehicle and some experimental issues should be solved. In this paper, following three schemes are proposed. (1) Odometry calibration scheme for the Car-Like Mobile Robot.(CLMR) (2) Accurate localization using Extended Kalman Filter(EKF) based redundant odometry fusion. (3) Trajectory tracking controller to compensate the tracking error of the CLMR. The proposed schemes are experimentally verified using a miniature Car-Like Mobile Robot. This paper shows that odometry accuracy and trajectory tracking performance can be dramatically improved by using the proposed schemes.

Automatic parking assist system is one of the key technologies of the future automobiles. Control problem of a car-like vehicle is not easy due to the nonholonomic constraints. In this paper, a practical solution for planning a car-parking path is proposed according to the proposed motion space (M-space) approach. The M-space is the extension of the conventional configuration space(C-space). A collision-free, nonholonomic feasible path can be directly computed by the M-space conversion and a back-propagation of reachable regions from the goal. the proposed planning scheme provide not a single solution, but also a candidate solution set, therefore, optimization of the parking path can beeasily carried out with respect to performance criteria such as safety, maneuvering, and so on. Presented simulation results clearly show that the proposed scheme provides various practical solutions.