Because soil compaction is a concern in crop production and environmental pollution, quantification and management of spatial and vertical variability in soil compaction for soil strength) would be a useful aspect of site -specific field management. In this paper, a soil strength profile sensor (SSPS) that could take measurements continuously while traveling across the field was developed and the performance was evaluated through laboratory and field tests. The SSPS obtained data simultaneously at 5 evenly spaced depths up to 50 em using an array of load cells, each of which was interfaced with a soil-cutting tip. Means of soil strength measurements collected in adjacent, parallel transects were not significantly different, confirming the repeatability of soil strength sensing with the SSPS. Maps created with sensor data showed spatial and vertical variability in soil strength. Depth to the restrictive layer was different for different field locations, and only 5 to 16% of the tested field areas were highly compacted.

AMachine vision is a promising tool for the autonomous guidance of farm machinery. Conventional CCD camera for the machine vision needs a desktop PC to install a frame grabber, however, a web camera is ready to use when plugged in the USB port. A web camera with a notebook PC can replace existing camera system. Autonomous steering control system of this research was intended to be used for combine harvester. If the web camera can recognize cut/uncut edge of crop, which will be the reference for steering control, then the position of the machine can be determined in terms of lateral offset and heading angle. In this research, a white line was used as a cut/uncut edge of crop for steering control. Image processing algorithm including capturing image in the web camera was developed to determine the desired travel path. An experimental vehicle was constructed to evaluate the system performance. Since the vehicle adopted differential drive steering mechanism, it is steered by the difference of rotation speed between left and right wheels. According to the position of vehicle, the steering algorithm was developed as well. Evaluation tests showed that the experimental vehicle could travel within an RMS error of 0.8cm along the desired path at the ground speed of $9\sim41cm/s$. Even when the vehicle started with initial offsets or tilted heading angle, it could move quickly to track the desired path after traveling $1.52\sim3.5m$. For turning section, i.e., the curved path with curvature of 3 m, the vehicle completed its turning securely.

In this study, tele-robotics was researched to actualize robots in agriculture. The robot system consisted of a data collecting robot, several robots that performed their own agricultural operations, a server, client computers and networks between robots and computers. In this paper, as a first step, harvesting experiments were carried out. From the results, it was observed that the tele-robotics had feasibility to propel the robotization in agriculture. The tele-robotics has advantages not only that human workers are released from the severe working environment but also that the greenhouse can be monitored and controlled anytime and anywhere.

In the study, the cone index, the cohesion and the internal resistant angle of soil were measured before and after tillage in order to suggest relative improvement in soil properties. The tillage methods tested in the study were five combinations of plow and rotary tillage operation and the experiments were performed on five selected test fields. The maximum tillage depth was 20 cm under the ground. The CIs for all the tillage operations were improved in comparison with those before tillage. The best combination of tillage operations for improving the CIs of soil was one plow operation followed by one rotary. After applying the tillage operations, the internal resistance angle reduced by 7-8 degree and the cohesion decreased up to about $1N/cm^2$ in comparison with those before tillage. We concluded that the cone index, the cohesion and the internal resistant angle of soil could be used as measures for representing the relative degree of tillage for a specific tillage operation. In addition, the study was useful as a basic research tool for developing an decision making system that determines an optimal tillage method with soil properties.

A windheat generation system with a Savonius windturbine was developed and the performance was evaluated through field tests. The system consisted of a heat generation drum, heat exchanger, water storage tank, and two circulation pumps. Frictional heat is created by rotation of a rotor inside the drum containing thermo oil, and was used to heat water. In order to estimate the capacity of this windheat generation system, weather data was collected for one year at the site near the windheat generation system. Wind Power from the savonius wind turbine mill was transmitted to the heat generation system with an one-to-three gear system. Starting force to rotate the savonius wind turbine and the whole system including the windheat generation system were 1.0 and 2.5 kg, respectively. Under the outdoor wind condition, maximum speed of the rotor in the drum was 75rpm at wind speed 6.5 m/sec, which was not fast enough to produce heat for greenhouse heating. Annual cumulative hours for wind speeds greater than 5 m/sec at height of 10, 20, 30 m were 190, 300 and 1020 hrs, respectively. A $5^{\circ}C$ increase in water temperature was achieved by the windheat generation system under the tested wind environment.

Seed, stem and sprout of F. tataricum were separately milled using the ultra fine mill under the same condition to investigate the effect of roasting or extruding on the particle size, microstructure and water solubility of dietary fiber. The mean particle size of MR (roasting) is increased in stem and sprout, and that of ME (extruding) is increased in seed, compared to that of control. The microscopic views of seed show that control has the spherical shape but ME the larger and irregular shape, and those of stem and sprout show that control has the needle like shape but ME more rounded shape. Water solubility index of ME is much higher than that of control or MR in seed, stem and sprout. It shows that seed, stem and sprout are damaged more in extruding than in roasting, and the starch and cell wall structure must be destroyed to change the water insoluble dietary fiber into the water soluble dietary fiber.

The fractionation of green juice could be one of the ways to treat the green juice for saving the bio re-sources by using the basic processes of protein coagulation and separating juice coagulation into protein paste and brown juice and storing the final products. The fractionation of Chinese cabbage juice can be accomplished by applying the combine method of the formic acid with rate of 0.3% and the propionic acid with rate of 0.1 % added 4 hours later in the juice with maximum recovery of protein coagulation. The separation of coagulation into the protein paste and the brown juice completed in 6.5 hours by set up method in a special designed storage. The protein paste could be stored safely for 30days in anaerobic condition.