An increasing number of researches and developments for personal or professional service robots are attracting a lot of attention and interest industrially and academically during the past decade. Furthermore, the development of intelligent robots is intensively fostered as strategic industry. Until now, most of practical and commercial service robots are worked by remotely operated controller. The most important technical issue of remote control is a wireless communication, especially in the indoor and unstructured environments where communication infrastructures might be destroyed by various disasters. Therefore we propose a multi-robot following navigation method for securing the valid communication distance extension of the remote control based on WPAN(Wireless Personal Area Networks). The concept and implementation of following navigation are introduced and the performance verification is performed through real navigation experiments in real or test-bed environments.

본 연구는 장기저장이 가능한 김치제조를 위해 사용된 20kGy의 선량으로 감마선 조사된 김치와 동결건조된 김치의 미생물학적,조직학적 및 관능적 품질특성을 비교하였다. 김치의 총균수는 감마선조사 후 검출한계 이하로 나타났으나 동결 건조된 김치는 비조사 대조구에 비해 1 log 수준의 미생물 감소를 나타내었다. 감마선조사 김치의 경도는 동결건조 후 재수화된 김치에 비해 유의적으로 높았다. 전자현미경을 통한 김치 조직 관찰 결과 동결건조 후 복원된 김