벼멸구(Nilaparvata lugens)는 벼에 가장 큰 피해를 주는 해충 중의 하나로서, 마이토콘드리아 DNA를 분석한 선행 연구결과에 의하면 북 베트남의 홍하유역을 중심으로 남쪽과 북쪽의 개체군이 유전적으로 뚜렷한 차이를 보이고 있다. 그러나 이러한 마이토콘드리아 DNA의 변이로는 좀더 상세한 지역간 개체군의 유전적 변이를 검정할 수 없으므로, 마이크로새털라이트 마커를 이용할 수 있는 방법을 모색하였다. 총 37개 마이크로새털라이트 위치를 분석한 결과 5개 위치에서 성공적으로 라벨을 할 수 있었으며, 그 중 2개 위치에서 유용한 개체군 변이정보를 얻을 수 있었다. 이러한 두 위치에서 벼멸구의 생태형(1, 2, 3형)에 따른 변이를 검정할 수 있는지의 여부를 검정한 결과, 두 위치 중에서 한 곳(27035)에서는 생태형간의 차이를 나타내지 않았으나, 다른 한 곳(7314)에서는 생태형 간에 차이를 보였다. 따라서 마이크로새털라이트 마커를 이용하면 좀 더 상세한 벼멸구 지역 개체군의 차이를 검정하여 이동과 분산의 근원과 경로를 알아내는데 유용한 방법이 될 것으로 생각된다.

DNA 다형성을 이용한 누에 유전자 해석기술을 개발하기 위하여 광식성 누에 계통 J111과 비광식성계통 의 DNA를 분리하여 유전자 은행을 제작하였다. 누에 유전자 은행은 genomic DNA를 EcoRI로 절단한후 pUC18에 ligation 시켜 DH5 E. coli에 형질전환 시켰다. 형질전환 후 얻어진 colony는 15개 누에 품종의 genomic DNA에 hybridization하였을 때 누에의 품종에 관계없이 highly repetitive, moderately repetitive 및 single 혹은 low copy number 로 구분되었다. RFLP마커에 적합한 single 및 low-copy number band만을 형성하는 colony probe을 신속하게 선발하고자 colony또는 genomic DNA로 hybridization하였다. Single 및 low-copy number의 특성을 가진 219개의 clone을 선발하여 Hind III등 8종의 제한효소별로 처리한 genomic DNA를 이용하여 다형성을 검정하여 J111과 계통간 다형성을 보인 46개의 clone을 선발하였다. 선발된 clone의 일부를 J111과 를 교배하여 얻은 의 blot에 hybridization 결과 RFLP clone들이 양친검정에 이용가능하여 누에 RFLP 연관 지도 작성의 기반을 조성하게 되었다.

The purpose of our sensor system is to transparentize the large hydraulic manipulators of a six-ton dual arm excavator from the operator camera view. Almost 40% of the camera view is blocked by the manipulators. In other words, the operator loses 40% of visual information which might be useful for many manipulator control scenarios such as clearing debris on a disaster site. The proposed method is based on a 3D reconstruction technology. By overlaying the camera image from front top of the cabin with the point cloud data from RGB-D (red, green, blue and depth) cameras placed at the outer side of each manipulator, the manipulator-free camera image can be obtained. Two additional algorithms are proposed to further enhance the productivity of dual arm excavators. First, a color correction algorithm is proposed to cope with the different color distribution of the RGB and RGB-D sensors used on the system. Also, the edge overlay algorithm is proposed. Although the manipulators often limit the operator’s view, the visual feedback of the manipulator’s configurations or states may be useful to the operator. Thus, the overlay algorithm is proposed to show the edge of the manipulators on the camera image. The experimental results show that the proposed transparentization algorithm helps the operator get information about the environment and objects around the excavator.

본 연구에서는 국내 콩 유전체의 변이밀집영역(dVB)에서 유 래한 27개 InDel 마커를 신품종 20개에 적용하여 품종판별용 마커로서 범용성을 검증하고 신품종의 구별성과 국내 품종의 유전적 다양성을 확인하였다. 20개 신품종과 MyCrops에 포함된 기존 149개 품종과의 유사도는 평균 61.3%이고, 최저 25.9%에서 최대 96.3%의 유사도로 완전 일치(100%)되는 바코드는 없어 20개 신품종의 유전적 구별성을 모두 확인할 수 있었다. 유연관계를 분석한 결과에서는 신품종을 포함한 국내 169품종이 4개의 유전집단으로 구분되었으며 풋콩 및 단기성 콩의 80%가 I-2 소그룹, 나물콩의 65.9%가 II-2 소그룹에 주로 속한 반면, 장류 및 두부콩은 I-1 (44.4%), I-2 (26.4%), II-2 (23.6%) 소그룹에 고르게 분포하였다. 20개 신품종에 대한 계보도는 나물콩 주요 계보와 장류 및 두부콩으로 크게 두 그룹으로 나누어지며 유연 관계분석을 뒷받침하였다. 품종판별을 위한 최소 마커를 선발 하기 위해 PIC가 높은 공통마커와 품종별 특이마커를 선발하는 2단계 과정을 통해 품종에 따라 7~9개의 최소 마커로 신품종의 진위를 판별할 수 있었다. 이처럼 콩 변이밀집영역에서 유래된 27개 InDel 마커와 이를 이용한 신품종 바코드 정보의 지속적인 업데이트는 수입산에 대한 국산 품종의 보호와 육성가의 권리 증진에 기여하며, 더불어 육종과정 중 신규 유전변이를 도입하고 목표형질을 선발하는 등 육종 효율을 개선하는데도 도움이 될 것으로 기대한다.

In the ground environment, mobile robot research uses sensors such as GPS and optical cameras to localize surrounding landmarks and to estimate the position of the robot. However, an underwater environment restricts the use of sensors such as optical cameras and GPS. Also, unlike the ground environment, it is difficult to make a continuous observation of landmarks for location estimation. So, in underwater research, artificial markers are installed to generate a strong and lasting landmark. When artificial markers are acquired with an underwater sonar sensor, different types of noise are caused in the underwater sonar image. This noise is one of the factors that reduces object detection performance. This paper aims to improve object detection performance through distortion and rotation augmentation of training data. Object detection is detected using a Faster R-CNN.

We analyzed the nuclear ribosomal internal transcribed spacer (ITS) sequence of common buckwheat, Fagopyrum esculentum and tartary buckwheat, F. tataricum. The diversity of the nucleotides and haplotypes, Tajima’s D, and Fu’s Fs was analyzed and compared among the varieties of common buckwheat and tartary buckwheat. The diversity of nucleotides and haplotypes indicated that the buckwheat populations had undergone rapid population expansion but D and Fs did not support their expansion statistically. The phylogenetic analysis of ITS sequences did not clearly establish the phylogenetic relationships between the varieties of common buckwheat. The In/Del sequence of ITS-1 region could, therefore, be used as a DNA marker to distinguish raw or manufactured products derived from common buckwheat and tartary buckwheat.

Background : Kalopanacis Cortex (海桐皮) is listed in「The Korea Pharmacopoeia (KP)」as the original plant of Kalopanax septemlobus (Thunb.) Koidz. However, the dried cortex of Erythrina eariegata L (刺桐) is an adulterant, one of the most indiscriminately used herbal medicines because of its similar morphologic. Due to the morphological similarities of the dried cortex of this plant to those of K. septemlobus which is used as a substitute herbal for E. eariegata, distinguish these two species is extremely difficult. Meanwhile, K. septemlobus is a polymorphic species, its morphological characteristics showed great diversity due to the different geographical and environmental factors. For this reason, it is conducted to develop molecular markers to distinguishing these K. septemlobus with E. eariegata by using conventional polymerase chain reaction (PCR). Methods and Results : In this study, In order to clearly identify origin of K. septemlobus, E. eariegata was analyzed from four barcode regions of chloroplast DNA (psbA-trnH, rbcL, matK, atpH-atpF) and nuclear ribosomal DNA (ITS2) to evaluate the ability of discrimination for each barcode region. The present study aimed to analyze the percent of variable sites were provided the highest ITS2 (2.3%) followed by rbcL (8.2%), in oder to develop a species-specific primer that can distinguish K. septemlobus form E. eariegata. Conclusion : The INDEL markers were developed based on the divergence of each sequence, and it is possible now to identify the two species of K. septemlobus with just a single performance of PCR. This will not only prevent misused of the plant, but also to maintain the quality of the herbal medicine as well as to verify and guarantee safety for public health.

Background : In the KHP (the Korea Herbal Pharmacopoeia), the Cuscutae Semen (菟絲子) is defined as the seed of the Cuscuta chinensis Lamark (family: Convolvulaceae). Using authentic raw herbal materials is fundamental to herbal medicine quality and Cuscutae Semen is widely distributed in many asian countries. Due to having tiny bodies of seeds, it is extremely difficult to differentiate them from adulterants and closely related species by morphologic characteristics, leading to serious safety problems. For this reason, there was conducted to develop molecular markers to distinguishing these Cuscuta chinensis with Cuscuta japonica and Cuscuta pentagona by using conventional polymerase chain reaction (PCR). Method and Results : In this study we developed a clearly and efficient method to identify Cuscutae Semen on the market. These samples (C. chinensis, C. japonica and C. pentagona) were analyzed from two barcode regions of chloroplast DNA (rbcL, psbA-trnH) and nuclear ribosomal DNA (ITS2). Based on genetic distance, the precent of variable sites were provided the highest psbA-trnH value (38.7%), followed by ITS2 (23.4%), rbcL (9.9%), in order to develop a specific primer that can distinguish C. chinensis, C. japonica and C. pentagona. Conclusion : From the above results, DNA barcoding was proved to be a successful tool for authentication the three species of Cuscutae semen. The adoption of DNA barcoding as an authentication tool by food safety agencies can safeguard the interests of both consumers and traders.

Background : Curcumae Longae Rhizoma (薑黃) is listed in「The Korea Pharmacopoeia (K P)」as the original plant of Curcuma longa L (Zingiberaceae). Meanwhile, Zeodariae Rhizoma (莪朮) is listed in 「The Korea Pharmacopoeia (KP)」as the original plant of C. phaeocaulis, C. aromatica and C. Kwangsiensi (Zingiberaceae). Due to the morphological similarities of the dried roots of this plant to those of C. phaeocaulis, C. aromatica and C. Kwangsiensis which is used as a substitute herbal for C.longa, distinguish these four species is extremely difficult. Methods and Results : A total of 90 collected samples were used in this study, In order to clearly distinguish of Curcumae Longae Rhizoma and Zeodariae Rhizoma were analysis based on sequence of the chloroplast DNA (trnK, rbcL, trnL-F, atpB-rbcL) and nuclear ribosomal DNA (ITS2). The present study aimed to analyze the percent of variable sites were provided the highest trnK (2.3%), in oder to develop a species-specific primer that can distinguish C.longa form C. phaeocaulis, C. aromatica and C. Kwangsiensis. In addition, the complete chloroplast genome of C. longa were sequenced by a 454 sequencing platform, and the structure of the obtained chloroplast genome was also analyzed. the result used that INDEL (insertion/deletion) marker for distinguish C.longa form C. phaeocaulis, C. aromatica and C. Kwangsiensis. Conclusion : The INDEL markers were developed based on the divergence of each sequence, and it is possible now to identify the four species of Curcumae Longae Rhizoma with just a single performance of PCR. This will not only prevent misused of the plant, but also to maintain the quality of the herbal medicine as well as to verify and guarantee safety for public health.

Background : Chrysanthemi Indici Flos (甘菊) is listed in 「The Korea Herbal Pharmacopoeia (KHP)」as the original plant of Chrysanthemum indicum L. C. indicum was one of the most representative medicinal plants in Asteraceae, Dried flowers of this plant have been valid chemical composition such as flavonoids, phenylpropanoids, terpenoids, and polysaccharides, possessing broad spectrum antibacterial, antiviral, antihypertensive and anti-oxidation functions. Meanwhile, C. indicum was a polymorphic species, its morphological characteristics showed great diversity due to the different geographical and environmental factors. For this reason, there was conducted to develop molecular markers to distinguishing these C. indicum with C. morifolium, C. zawadskii var. latilobum and Aster spathulifolius by using conventional polymerase chain reaction (PCR). Methods and Results : In this study, In order to clearly identify origin of Chrysanthemi Indici Flos, these samples (C. indicum, C. morifolium, C. zawadskii var. latilobum and A. spathulifolius) were analyzed from five barcoding regions of chloroplast DNA (rbcL, matK, rpoB, atpF-atpH) and nuclear ribosomal DNA (ITS2) to evaluate the ability of discrimination for each barcoding region. Based on genetic distance, the percent of variable sites were provided the highest ITS2 value (56.9%), followed by atpF-atpH (48.18%), matK (27.2%), psbK (8.2%), and rbcL (2.9%). Comparative analysis based on the complete genome sequence of the petL-petG region INDEL (insertion/deletion) that the gene annotations were registered to the GenBank (accession number: JN-867592.1, NC-020092.1, MF-034027.1, NF-279514.1). Conclusion : From the above results, we may suggest that the petL-petG region INDEL analysis were conducted for molecular authentication of four plants (C. indicum, C. morifolium, C. zawadskii var. latilobum and A. spathulifolius). The findings of results indicated that petL-petG region might be established INDEL analysis systems and hence were proved to be an effective tools for molecular evaluation and comparison of “Chrysanthemi Indici Flos” with other plants.

Background : The soil-borne ascomycete fungus Ilyonectria rdicicola species complex is commonly associated with root rot disease symptoms in ginsneg. Its virulence has been attributed, among other factors, to the activity of hydrolytic cell wall-degrading enzymes (CWDE). Methods and Results : To establish a rapid and accurate detection of Ilyonectria rdicicola, a species-specific primer was developed based on the putative genes of cell wall–degrading enzyme (pectinase, polygalactose, xylanase, xylosidase). Species-specific primer based on the DNA sequences of gene amplified about 200 - 300 bp polymerase chain reaction (PCR) product for Ilyonectria mors-panacis. Conclusion : The primer pair yielded the predicted PCR product size exactly in testing with target pathogen DNAs, but not from the other species of Ilyonectria and species of other phytopathogenic fungi. The primer pair also showed only the species-specific amplification curve on realtime PCR on target pathogen DNA. The detection sensitivity of real time PCR using species-specific primer pair was 10 to 100 times higher than conventional PCR, with 1 to 10 pg/㎕. The approach outlined here could be further utilized as a rapid and reliable tool for the diagnosis and monitoring of the root rot of ginseng.

Background : Atractylodes japonica koidz (AJ) is a perennial herb that belongs to Atractylodes genus. The dried rhizome of AJ is known as ‘Baek-chul’. The ‘Baek-chul’ is used as important traditional medicine in north-east Asia. It is considered to be effective for the treatment of stomach disorder, virus, diuresis, inflammation, arthritis. AJ is heavily depend on import from china and only few studies have been carried out. In this study, we develop SSR marker to build a foundation of breeding, to analyze genetic diversity and to construct core collection. Methods and Results : AJ resources was collected from each different place. To find simple sequence repeat (SSR) marker, we sequenced genomic DNA of AJ resources using Illumina HiSeq 2000 System. As a result of next generation sequencing (NGS), we obtained putative SSR loci. From these SSR primers, 553 SSR primer sets were designed successfully and confirmed polymorphism by in silico analysis. Nucleotide motifs ranged from tri- to penta-. Among these, 48 primer were tested in 4 individuals by capillary electrophoresis. Finally, selected 28 SSR marker were showed clear band and polymorphism by Electrophoresis. Conclusion : In this study, we developed 28 polymorphic SSR marker using NGS, and it could be used for analyzing genetic diversity of A. japonica. These marker would be useful for breeding of new cultivar in the future.

Background : Jujube (Zizyphus jujuba. Mill) is a broad-leaved shrub belonging to the family Seagull. Its origin is India and its height is about 5 m. The flowers are gathered in two to three in May-June, with five petals and yellowish green. Leaves are alternate, egg-shaped or long egg-shaped, with clearly visible three veins. The fruit, called jujube, is an elliptical nucleus with the seed wrapped in a solid nucleus. It is 2.5 - 3.5 ㎝ in length, green at first, ripened in brown or reddish brown in September-October. Jujube uses the bud mutation to breed and spreads through grafting. Therefore, there is little difference in phenotype between cultivars. However, because of the lack of research on jujube molecular biology, there is no standard to distinguish the variety at the DNA level. In order to overcome such difficulties and to create a research foundation of jujube, we have developed molecular markers from jujube. Methods and Results : We collected 12 jujube varieties include Bogjo and extracted DNA using CTAB method. The DNA was diluted to 10 ng/㎕ and kept at -20℃. We designed the primer sets using CLC Main Workbench based on DNA InDel regions between the varieties. PCR and electrophoresis were performed to confirm the polymorphism. We designed 26 primer sets from 23 InDel regions. Eighteen of 26 primer sets amplified the amplicon from the primer screening. Eight primer sets were selected for polymorphism assays. All primer sets showed polymorphism. The domesticated cultivars were divided into two groups and the Japanese and Chinese varieties were separated. Conclusion : The InDel markers developed in this study could be good tools to differentiate the jujube cultivars cultivated in Korea.

Background : Angelica species are representative medicinal plants and it has been used in traditional medicinal methods, especially, in the traditional Asian medicine. The Angelica species used in conventional medicine varies by country according to specific regulations, i.e. A. gigas Nakai in Korea, A. sinensis Diels in China, and A. acutiloba Kitagawa in Japan. Because of the similarity between the names among Angelica, they can be confused in the market. Methods and Results : In this study, twenty-four chloroplast insertion or deletion (cpInDel) markers were developed from chloroplast DNA of A. gigas Nakai and tested for the classification of Angelica species. Primer sets were designed from flanking sequences of the discovered InDel loci from chloroplast DNA of A. gigas Nakai using CLC Main Workbench with the following parameters : primer length = 18 - 26 bp (Opt. 23 bp); GC% = 50 - 70% (Opt. 60%); Ta = 55 - 62℃ (Opt. 58℃); product size range = 120 - 300 bp. Polymorphism and genotype analysis of 13 Angelica species were performed using the developed cpInDel markers. Conclusion : The 24 cpInDel markers developed in this study could be used for genetic diversity analysis and classification of Angelica species.

Background : The Codonopsis genus belongs to the Campanulaceae, and it is recorded that there are four species of Codonopsis genus in Korea, such as Codonopsis lanceolata, Codonopsis pilosula, Codonopsis minima, and Codonopsis ussuriensis. C. lanceolata has been proved to be safety and efficacy, and has been widely used for medicinal and edible purposes for a long time in East Asian countries including Korea, China and Japan. However, little genetic research has been done. Methods and Results : Ten species of Codonopsis plants were collected and DNA was extracted using CTAB (cetyl trimethylammonium bromide) method. The extracted DNA was diluted to 5 ng/㎕ for the PCR (polymerase chain reaction) process. C. lanceolata genome was used to develop molecular markers by searching insertion and deletion regions (InDel) in the chloroplast sequence. The developed markers were applied to 4 individuals per Codonopsis species. PCR amplification was carried out using a denaturation at 94℃ for 30 sec, annealing at 58℃ for 30 sec and extension at 72℃ for 30 sec, repeated for 35 total cycles. The PCR products were separated in a 4% agarose gell at 100 V for 40 min. Conclusion : Using the molecular markers developed in this study, genetic diversity of Codonopsis genus was tested, and at the same time, a specific molecular marker was developed to differentiate C. lanceolata from the Codonopsis plants.

Background: Adenophora triphylla var. japonica (Regel) H. Hara shows vegetative growth with radical leaves during the first year and shows reproductive growth with cauline leaves and bolting during the second year. In addition, the shape of the plant varies within the same species. For this reason, there are limitations to classifying the species by visual examination. However, there is not sufficient genetic information or molecular tools to analyze the genetic diversity of the plant. Methods and Results: Approximately 34.59 Gbp of raw data containing 342,487,502 reads was obtained from next generation sequencing (NGS) and these reads were assembled into 357,211 scaffolds. A total of 84,106 simple sequence repeat (SSR) regions were identified and 14,133 primer sets were designed. From the designed primer sets, 95 were randomly selected and were applied to the genomic DNA which was extracted from five plants and pooled. Thirty-nine primer sets showing more than two bands were finally selected as SSR markers, and were used for the genetic relationship analysis. Conclusions: The 39 novel SSR markers developed in this study could be used for the genetic diversity analysis, variety identification, new variety development and molecular breeding of A. triphylla.

Background: Panax ginseng C. A. Meyer is wood-cultivated ginseng (WCG) in Korea which depends on an artificial forest growth method. To produce this type of ginseng, various P. ginseng cultivars can be used. To obtain a WCG similar to wild ginseng (WG), this method is usually performed in a mountain using seeds or seedlings of cultivated ginseng (CG) and WG. Recently, the WCG industry is suffering a problem in that Panax notoginseng (Burk.) F. H. Chen or Panax quinquefolium L. are being sold as WCG Korean market; These morphological similarities have created confusion among customers. Methods and Results: WCG samples were collected from five areas in Korea. After polymerase chain reaction (PCR) amplification using the primer pair labeled with fluorescence dye (FAM, NED, PET, or VIC), fragment analysis were performed. PCR products were separated by capillary electrophoresis with an ABI 3730 DNA analyzer. From the results, WCG cultivated in Korea showed very diverse genetic background. Conclusions: In this study, we tried to develop a method to discriminate between WCG, P. notoginseng or P. quinquefolium using simple sequence repeat (SSR) markers. Furthermore, we analyzed the genetic diversity of WCG collected from five cultivation areas in Korea.

Soybean cultivars with genetically low levels of stachyose enhance the utilization of soybean in food as well as feed uses. The objective of this research is to obtain the information on indirection selection of soybean lines with low stachyose content using DNA marker based on RS2 (rs2) gene. Two genetic populations were developed from the crosses of three parents (116-13 parent : low stachyose content, PI417227 and PI506903 parents: normal stachyose content). Twenty F2 plants of RS2_ genotype and twenty F2 plants of rs2rs2 genotype from each populations were harvested. Content of stachyose was detected by HPLC. Stachyose contents (g/kg) of 116-13, PI417227, PI506903 parents were 3.7, 23.7, and 17.8, respectively. In population 1, stachyose content 20 F2 plants with RS2_ genotype was 14.8 – 24.1 and stachyose content 20 F2 plants with rs2rs2 genotype was 2.1 – 4.7. In population 2, stachyose content 20 F2 plants with RS2_ genotype was 12.4 – 19.7 and stachyose content 20 F2 plants with rs2rs2 genotype was 2.1 – 5.0. Mean difference between RS2_ genotype and rs2rs2 genotype in population 1 and 2 was highly significant. From this results, selection of genetic lines with low stachyose content by DNA marker based on RS2 (rs2) gene will be possible.