Path planning is necessary for mobile robots to perform precise and rapid tasks. A collision avoidance function must be included so that the robot can move safely during work, and it must be able to create an optimal path to reduce work execution time and save energy. In this paper, we propose a smart route generation algorithm that searches for global route with an algorithm that can speed up route search and integrates the TEB algorithm that can search for regional optimum routes in real time according to the situation. The performance of the proposed algorithm was verified through actual driving experiments of mobile robots.

In this study, we present an algorithm for indoor robot position estimation. Estimating the position of an indoor robot using a fixed imaging device obviates the need for complex sensors or hardware, enabling easy estimation of absolute position through marker recognition. However, location estimation becomes impossible when the device moves away from the surrounding obstacles or the screen, presenting a significant drawback. To solve this problem, we propose an algorithm that improves the precision of robot indoor location estimation using a Gaussian Mixture Model(GMM) and a Kalman filter estimation model. We conducted an actual robot operation experiment and confirmed accurate position estimation, even when the robot was out of the image.

‘Gwangyoung’, a winter forage triticale cultivar (X Triticosecale Wittmack), was developed at the Department of Rice and Winter Cereal Crop, NICS, RDA in 2018. The cultivar ‘Gwangyoung’ has leaves of wide width, medium length, and green color, and spikes of medium length and yellowish-brown color, and a large grain of yellowish-brown color. The heading date of the cultivar ‘Gwangyoung’ was April 22 which was similar to check cultivar ‘Shinyoung’. Its tolerance or resistance to cold, lodging, wet injury powdery mildew, and leaf rust were also similar to those of the check cultivar. The leaf blade ratio of ‘Gwangyoung’ (27.5%) was higher than that of ‘Shinyoung’ (21.2%). The average forage fresh and dry matter yield of cultivar ‘Gwangyoung’ at milk-ripe stages were 50.0 and 17.6 MT ha-1, respectively, which were higher than those (47.7 and 17.1 MT ha-1) of the check cultivar. The silage quality of ‘Gwangyoung’ was lower than that of the check cultivar ‘Shinyoung’ in crude protein content (5.3%) and total digestible nutrients (61.3%), while was higher than the check cultivar in neutral detergent fiber (58.2%) and acid detergent fiber (34.9%). ‘Gwangyoung’ showed the silage of 1 grade and a grain yield of 6.03 MT ha-1.

단감 과수원에서 문제가 되고 있는 노린재의 방제 목적으로 사용되는 페로몬트랩의 유인거리를 확인하고, 페로몬트랩의 효율을 증가시킬 수 있는 끈끈이트랩의 사용효과에 대하여 알아보고자 수행되었다. 노린재에 마커로 표시한 후 방사하여 페로몬트랩과 끈끈이트랩에 재포획된 개체수를 조사하였다. 그 결과, 페로몬트랩에 톱다리개미허리노린재가 60 m까지 유인되는 것을 확인하였으며, 끈끈이트랩의 포획률은 0주차 35%, 1주에서 27%, 2주에서 34%, 3주에서 2.9%, 4주에서 0.6%로, 3주 이후부터 급격히 낮아지는 것을 확인하였다. 페로몬트랩과 끈끈이트랩을 동시에 사용한 경우가 페로몬트랩만 단일로 사용한 경우보다 약 12배 높은 포획률을 보였다.

Barley is an important cereal gain which is traditionally used in some nations of Asia and North Africa, and there has been growing interest in using barley as an ingredient in food due to their nutritional value and high content of phyto-constituents. However, no study report on comparative feed value between sprouted barley, cornflake and alfalfa hay. Therefore, in this study we aimed to evaluate the chemical composition, amino acid profile and mineral content of 6 day sprouted barley fodder (SBF) compared with cornflake and alfalfa hay using by AOAC method, as an alternative feed ingredient. Results showed that SBF had higher content of crude protein, acid detergent insoluble crude proteins and neutral detergent insoluble crude protein than alfalfa hay and cornflake; cornflake had higher crude fiber, neutral detergent fiber content than SBF and alfalfa hay; alfalfa hay had higher crude fiber, crude ash, acid detergent fiber, neutral detergent fiber and lignin level than SBF and cornflake. Also, significant differences were found on amino acid content among them (p<0.01). The most abundant amino acid in SBF was glutamate (123 g/kg DM), which is higher than in alfalfa hay (1.27%) or cornflake (1.58%). However, methionine (1.33%) and cysteine (1.53%) were the least abundant amino acids in SBF compared with cornflake or alfalfa hay. Furthermore, our study results exhibited that SBE comprise a good sources of minerals including ferrous (90.01 mg/kg) followed by zinc (20.50 mg/kg), magnesium (0.20 mg/kg) and sodium (0.03 mg/kg) as compared to cornflake and alfalfa hay. The present research findings, confirmed that the nutritional values of SBF are comparable to those of cornflake and alfalfa hay. Hence, SBF can be a better alternative feed ingredient for cornflake or alfalfa hay. However, feeding trials will be required to determine acceptability of SBF for ruminant production.

A barley(Hordeum vulgare L.) cultivar 'Youjin' with hooded spike type having good silage quality was developed at National Institute of Crop Science, RDA in 2016. ‘Youjin’ showed both high yielding and cold resistance through the preliminary and advanced yield trials(PYT, AYT) from 2012 to 2013. We conducted regional yield trials(RYT) of ‘Youjin’ in six locations around Korea for three years from 2014 to 2016. It had erect plant type, growth habit of II, the green leaf and hooded awn type. In the paddy field its heading date was April 24 and the maturing date was May 25. Plant height was 99 cm and the number of spikes per m2 was 696. It has high rate of leaf blades, resistance to BaYMV(Barley Yellow Mosiac Virus) and good winter hardiness. The average dry matter of Youjin was about 17.2 MT ha-1 in the field. And feed quality of ‘Youjin’ was 10.6% of crude protein content, 24.8% of ADF(Acid Detergent Fiber), 43.5 % of NDF(Neutral Detergent Fiber), 69.1% of TDN(Total Digestible Nutrients). And also ‘Youjin’ had grade I of silage quality.

본 연구의 목적은 온탕침지와 pH교정석회유황합제 처리에 의한 상추 유기종자의 곰팡이와 세균의 소독효과 및 발아율에 미치는 영향을 검정하고자 하였다. 상추종자에 Alternaria sp.가 53.3% 감염되어 있었고 Aspergillus sp.와 Cladosporium sp.은 각각 14.5%와 5.4% 감염되어 있었다. 세균은 형태적으로 Pseudomonas sp., 한 종만 분리되었으며 16.5%가 감염되어 있었다. 상추종자 소독에 효과적인 온탕침지조건을 탐색하고자 온탕의 온도조건(45℃, 50℃, 55℃, 60℃)에 따른 소독효과를 조사하였다. 온탕침지 온도와 처리시간이 증가함에 따라 곰팡이와 세균에 대한 살균효과는 증가하였으나 종자의 발아율은 급격히 감소하였다. 온탕침지 단독처리는 50℃ 온탕에서 20분간 처리할 경우 상추종자의 살균효과와 발아율이 각각 91.1%로 가장 우수하였다. 상추종자 소독을 위한 온탕침지와 pH교정석회유황합제 교호처리는 50℃의 온탕침지 조건에서는 10분간 처리하는 것이 상추종자의 살균효과와 발아율이 각각 100%와 97.6%로 가장 높았다. 본 연구결과는 종자 표면뿐만 아니라 종자내의 곰팡이나 세균을 살균할 수 있는 기술개발에 기여할 수 있을 것으로 생각한다.

토양에 활용되는 유기농업자재(퇴비, 유황)가 굼벵이 생육 및 생존에 미치는 영향을 알아보기 위하여 생육시험을 수행하였다. 먹이는 참나무발효톱밥을 이용하였으며, 가축의 퇴비와 유황을 일정비율(0.3, 1, 3, 10 %) 섞어 사육하였다. 시험곤충은 흰점박이꽃무지 2령 유충을 사용하였다. 사육 시 나타나는 생장율 차이를 비교하여 흰점박이꽃무지 유충의 발육 특성을 조사하였다. 참나무발효톱밥으로만 사육한 개체에 비해 유황을 혼합한 경우, 유황의 비율이 높아질수록 생중량의 증가율이 낮아지는 것으로 나타났다. 가축퇴비(우분 40%, 돈분 10%, 계분 5%)를 배합하여 사육한 경우, 참나무발효톱밥에 10% 퇴비를 배합하였을 때, 21일 후 생중량이 평균 4.18배 증가하는 것을 확인하였다.

The KVN(Korean VLBI Network)-style simultaneous multi-frequency receiving mode is demonstrated to be promising for mm-VLBI observations. Recently, other Very long baseline interferometry (VLBI) facilities all over the globe start to implement compatible optics systems. Simultaneous dual/multi-frequency VLBI observations at mm wavelengths with international baselines are thus possible. In this paper, we present the results from the first successful simultaneous 22/43 GHz dualfrequency observation with KaVA(KVN and VERA array), including images and astrometric results. Our analysis shows that the newly implemented simultaneous receiving system has brought a significant extension of the coherence time of the 43 GHz visibility phases along the international baselines. The astrometric results obtained with KaVA are consistent with those obtained with the independent analysis of the KVN data. Our results thus confirm the good performance of the simultaneous receiving systems for the non-KVN stations. Future simultaneous observations with more global stations bring even higher sensitivity and micro-arcsecond level astrometric measurements of the targets.