This study was conducted to identify the seasonal occurrence patterns of peach pyralid moth, Dichocroscis punctiferalis (Guenee), and persimmon fruit moth, Satthmopoda masinissa Meyrick, in persimmon orchards in four different regions, Ulsan and Jinyeong in Gyeongsangbuk-do, and Naju and Yeongam in Jeollanam-do. Three pheromone traps (Delta trap, GreeAgro Tech) for each moth species were installed at each site and checked with 1 week intervals. Peach pyralid moth and persimmon fruit moth occurred in all four study sites. Two moth species exhibited two distinctive peaks, but there were some time differences in the peak among sites. Peach pyralid moth first occurred in late May to early June in Ulsan, Jinyeong and Naju but occurred in late July in Yeongam. Overall, the first peak appeared in mid- to late June but the time of the second peak varied widely among sites. Persimmon fruit moth first occurred in early to mid-June in Ulsan, Jinyeong and Naju but occurred in mid-May in Yeongam. The first peak appeared in mid- to late June in Ulsan, Jinyeong and Naju but it appeared in late May in Yeongam. The time of the second peak was around late August in the study sites except Ulsan where the second peak time was in late September.

This paper presents a rope modeling and verification for the robotic platform of the wall cleaning robot (ROPE RIDE). ROPE RIDE has the characteristics of climbing up and down using a rope fixed on the roof like traditional workers. In order to perform a stable operation with a wall cleaning robot, it is necessary to estimate the position of the robot in a vertical direction. However, due to the high coefficient of extension and nonlinearity of the climbing rope, it is difficult to predict the behavior of the rope. Thus, in this paper, the mathematical modeling of the rope was carried out through the preliminary experiment. Extensive experiments using different types of rope were used to determine the parameters of the constitutive equation of climbing ropes. The validity of the determined parameters of various ropes was verified through the experiment results.