• Korean Journal of Environmental Agriculture
• /
• v.20 no.2
• /
• pp.86-92
• /
• 2001

The current study was conducted to elucidate the optimum density of free-ranging ducks in a rice-duck farming system in terms of effects on duck behavior, and growth and yield of rice plants. Four paddy fields were used for this experiment, with 6, 9, 12 and 15 birds per plot, respectively. Ducklings at eight days of age were free ranged in experimental paddy plots (4.0 a each) on the 9th day after the transplantation of rice plants. Ducks were kept in the plot for seventy days, at which point rice plants reached the earing stage. Foraging, moving, working, resting, diving and pecking behaviors of the ducks were observed two times during the experimental period. Also, rice plant growth and yield according to the density of ducks per plot were examined. The foraging and moving behavior of free-ranging ducks in paddy fields for 12 hours during the daytime tended to be longer in the 12-bird plot, and working behavior was significantly (P<0.01) longer in the 12-bird plot than in the other three plots. The resting behavior was significantly (P<0.01) higher in the 9- and 15-bird plots than in the 12-bird plot. The frequency of moving behavior for 6 hours during the daytime in the 15-bird plot tended to be lower than that in the other three plots, but this difference was not significant. The amount of diving and pecking behavior in the 9-bird plot was significantly (P<0.05) higher than that in the other three plots, and the number of hills pecked tended to be higher with increasing of duck density. From thirty days after ducks were introduced to the paddy fields, the length of rice plants tended to be significantly (P<0.05) shorter in high free-ranging density plots as compared to low free-ranging density plots. The number of tillers per hill was not affected by the free-ranging density. The culm length of rice plants was significantly (P<0.05) shorter in the 12- and 15-bird plots than in the other two plots, however, the duck free-ranging density did not affect panicle length. The dry weight of the root of rice plants was increased with high free-ranging density, but there was no such increase in the top parts of the rice plants. The percent of rice plants badly damaged by free-ranging density tended to be lower in the order of 12-, 9-, 6- and 15-bird plots. The number of ears, ripening grains and crop yield per hill of rice plants in the 12-bird plot were significantly (P<0.05) higher than those of the other three plots. Therefore, the yield of each rice plant per 10 a was significantly increased in the 12-bird plot.

• KOREAN JOURNAL OF CROP SCIENCE
• /
• v.48 no.6
• /
• pp.473-478
• /
• 2003

This study was conducted to clarify the effects of duck free-ranging time on the growth and behavior patterns of duck, pH and dissolved oxygen of irrigation water, and growth and yield of the rice plants in paddy fields. Two paddy fields with each 5 aye were used for 12 hours duck free-ranging plot (12HFR) and 24 hours duck free-ranging plot(24HFR). Body weight gain of the duck was not different between 12HFR and 24HFR. Eating and feather grooming behavior in the 12HFR were significantly longer than those of 24HFR, but other behavior patterns were not so. Working behavior and activities of duck in paddy fields tended to be longer in the 12HFR than in 24HFR. However, any difference was not found on staying time of duck in paddy fields. Although it was not statistically significant, pH and dissolved oxygen of irrigation water tended to be higher in the 12HFR than in 24HFR. The plant height of rice in the 12HFR was significantly shorter than that of 24HFR during the latter half period. The number of tillers per hill was significantly increased in the 24HFR than in 12HFR. The shoot dry weight of rice in the 12HFR was significantly less than in the 24HFR during the heading stage of rice plant, but the root dry weight was not different. The number of spikelets per panicle was significantly less in the 12HFR than in 24HFR, however the percentage of ripened grains was significantly higher in the 12HFR. The yield of rice was not significantly different between the treatments. In conclusion, the free-ranging time of duck for 12 hours in paddy fields promoted eating and working behavior of the ducks. Free-ranging time did give effects on rice traits such as the number of tillers per hill, plant height, shoot dry weight of the rice plant, and spikelet number and percentage of ripened grain. However, the duck growth, pH and dissolved oxygen of irrigation water, and paddy rice yield were not affected by duck free-ranging time. These results might suggest that almost same effect as in 24 hours of free-ranging can be obtained with only 12 hours of free-ranging in daytime.

• Journal of Institute of Control, Robotics and Systems
• /
• v.2 no.3
• /
• pp.200-208
• /
• 1996

This paper describes the mechanism, guidance, sensor system, and navigation algorithm of METRO, a free ranging mobile robot. METRO is designed for use in structured surroundings or factory environments rather than unstructured natural environments. An overview of the physical configuration of the mobile robot is presented as well as a description of its sensor system, an omnidirectional laser range finder. Except for the global path planning algorithm, a guidance and a navigation algorithm with a local path planning algorithm are used to navigate the mobile robot. In METRO the computer support is divided into a supervisor with image processing and local path planning and a slave with motor control. The free ranging mobile robot is self-controlled and all processing being performed on board.

• Journal of the Korean Society of Industry Convergence
• /
• v.1 no.2
• /
• pp.41-48
• /
• 1998

This experimental study describes atomization characteristics of spray-spray impingement. Effect of the impingement location and angle on the penetration and the sauter mean diameter of the impinged spray were investigated. Experiment were performed under ranging from 50kPa to 250kPa spray pressure, ranging $30^{\circ}C$ to $135^{\circ}C$ angle on the penetration and free spray. In the case of this experimental, sauter mean diameter $D_{32}$ tends to decrease and duration of film disintegration $t_f$ to decrease, when spray pressure and angle on the penetration is increased. Sauter mean diameter $D_{32}$ were about 20% to be smaller compared with a free spray to jet-jet impingement and 30% to be smaller compared with a free spray to spray-spray impingement.

• Journal of the Korean Society for Precision Engineering
• /
• v.11 no.4
• /
• pp.88-98
• /
• 1994

A new local path planning algorithm for free-ranging robots is proposed. Considering that a laser range finder has the excellent resolution with respect to angular and distance measurements, a simple local path planning algorithm is achieved by a directional weighting method for obtaining a heading direction of nobile robot. The directional weighting method decides the heading direction of the mobile robot by estimating the attractive resultant force which is obtained by directional weighting function times range data, and testing whether the collision-free path and the copen parthway conditions are satisfied. Also, the effectiveness of the established local path planning algorithm is estimated by computer simulation in complex environment.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.38 no.12
• /
• pp.971-982
• /
• 1989

An integrating position estimation algorithm has been developed for the navigation system of a free-ranging AGV system. The navigation system focused in this research work consists of redundant wheel encoders for the relative position measurement and a vision sensor for the absolute position measurement. A maximum likelihood method and an extended Kalman filter are implemented for enhancing the performance of the position estimator. The maximum likelihood estimator processes noisy, redundant wheel encoder measurements and yields efficient estimates for the AGV motion between each sampling interval. The extended Kalman filter fuses inharmonious positional data from the deadreckoner and the vision sensor and computes the optimal position estimate. The simulation results show that the proposed position estimator solves a generalized estimation problem for locating the vehicle accurately in space.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10b
• /
• pp.1343-1348
• /
• 1990

The architecture and functions of a prototype free ranging AGV system are described in this paper. The system has single tricycle configuration - the front wheel is driven and steered simultaneously. The primary position measurement device of this system is the redundant encoder system - an absolute encoder for the steering angle measurement of the front wheel, two incremental encoders for the measurement of the rear wheel rotations. The secondary position measurement device is implemented to reduce the accumulatad error in encoder measurements. The extended Kalman filter is suggested to combine the conflict measurement data for the proper position estimation.

• Proceedings of the KIEE Conference
• /
• 2007.10a
• /
• pp.327-328
• /
• 2007

This paper is to develop the path-tracking of free-ranging AGV(Autonomous Guided Vehicle). Encorders are used to trace the location of the AGV. A gyroscope is used to complement encorders that have the error accumulation problem by increasing the distance covered. A sensor fusion technique is applied to correct the error. The path of the AGV is controlled by kinematics and PID which is obtained the data from the sensor fusion. Experimental results are presented to verify the efficiency of proposed method.

• Journal of the korean veterinary medical association
• /
• v.45 no.11
• /
• pp.1040-1051
• /
• 2009

• Corrosion Science and Technology
• /
• v.8 no.5
• /
• pp.171-176
• /
• 2009

The chloride threshold level (CTL) in mixed concrete containing, ordinary Portland cement (OPC), pulverized fuel ash (PFA) ground granulated blast furnace slag (GGBS), and silica fume (SF) is important for study on corrosion of reinforced concrete structures. The CTL is defined as a critical content of chloride at the steel depth of the steel which causes the breakdown of the passive film. The criterion of the CTL represented by total chloride content has been used due to convenience and practicality. In order to demonstrate a relationship between the CTL by total chloride content and the CTL by free chloride content, corrosion test and chloride binding capacity test were carried out. In corrosion test, Mortar specimens were cast using OPC, PFA, GGBS and SF, chlorides were admixed ranging 0.0, 0.2, 0.4, 0.8, 1.0, 1.5, 2.0, 2.5 and 3.0% by weight of binder. All specimens were cured 28 days, and then the corrosion rate was measured by the Tafel's extrapolation method. In chloride binding capacity, paste specimens were casting using OPC, PFA, GGBS and SF, chlorides were admixed ranging 0.1, 0.2, 0.3, 0.5, 1.0, 1.5, 2.0, 2.5 and 3.0% by weight of binders. At 28days, solution mixed with the powder of ground specimens was used to measure binding capacity. All specimens of both experiments were wrapped in polythene film to avoid leaching out of chloride and hydroxyl ions. As a result, the CTL by total chloride content ranged from 0.36-1.44% by weight of binders and the CTL by free chloride content ranged from 0.14-0.96%. Accordingly, the difference was ranging, from 0.22 to 0.48% by weight of binder. The order of difference for binder is OPC > 10% SF > 30% PFA > 60% GGBS.