The localization of the robot is one of the most important factors of navigating mobile robots. The use of featured information of landmarks is one approach to estimate the location of the robot. This approach can be classified into two categories: the natural-landmark-based and artificial-landmark-based approach. Natural landmarks are suitable for any environment, but they may not be sufficient for localization in the less featured or dynamic environment. On the other hand, artificial landmarks may generate shaded areas due to space constraints. In order to improve these disadvantages, this paper presents a novel development of the localization system by using artificial and natural-landmarks-based approach on a topological map. The proposed localization system can recognize far or near landmarks without any distortion by using landmark tracking system based on top-view image transform. The camera is rotated by distance of landmark. The experiment shows a result of performing position recognition without shading section by applying the proposed system with a small number of artificial landmarks in the mobile robot.

This study examined radiation damage and the optimal gamma-ray dose for mutation breeding in oat (Avena sativa L. cv. Samhan). The seed germination rate decreased as the dose increased over 500 Gy. The median lethal dose (LD50) was approximately 392 Gy. The median reduction dose (RD50) for plant height, tiller number, root length, and flash weight was 411, 403, 394, and 411 Gy, respectively. The optimal dose of gamma irradiation for inducing oat mutation appears to be in the range 300-400 Gy. We performed the comet assay to observe nuclear DNA damage induced by gamma-ray irradiation. This assay showed a clear difference with gamma-ray treatments. DNA damage increased temporarily 7 days after treatment depending on the dose, while no significant difference was identified in response to 300 Gy 30 days after the gamma-ray treatments. The growth characteristics of the M2 generation decreased as the dose increased over 400 Gy.