• The Journal of Korea Robotics Society
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• v.19 no.3
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• pp.293-310
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• 2024

In this paper, we propose an agent model for Language-Driven Zero-Shot Object Navigation (L-ZSON) tasks, which takes in a freeform language description of an unseen target object and navigates to find out the target object in an inexperienced environment. In general, an L-ZSON agent should able to visually ground the target object by understanding the freeform language description of it and recognizing the corresponding visual object in camera images. Moreover, the L-ZSON agent should be also able to build a rich spatial context map over the unknown environment and decide efficient exploration actions based on the map until the target object is present in the field of view. To address these challenging issues, we proposes AML (Agent Model for L-ZSON), a novel L-ZSON agent model to make effective use of AI foundation models such as Large Language Model (LLM) and Vision-Language model (VLM). In order to tackle the visual grounding issue of the target object description, our agent model employs GLEE, a VLM pretrained for locating and identifying arbitrary objects in images and videos in the open world scenario. To meet the exploration policy issue, the proposed agent model leverages the commonsense knowledge of LLM to make sequential navigational decisions. By conducting various quantitative and qualitative experiments with RoboTHOR, the 3D simulation platform and PASTURE, the L-ZSON benchmark dataset, we show the superior performance of the proposed agent model.

• Journal of The Korean Society of Grassland and Forage Science
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• v.6 no.2
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• pp.71-77
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• 1986

The field experiment was conducted to evaluate the effect of herbicide treatment (Banvel: 100, 200, U-46: 150, 300, Hedonal: 150, 300, Simazin: 100, 200g/10 a) on change in the botanical composition and dry matter productivity of ladino clover (Trifolium repens L.) dominated pasture mixtures. The experiment was laid down as a randomized block design with 4 replications at experimental field of Livestock Experiment Station in Suweon from 1983 to 1985. The results obtained are summarized as follows: 1. Against ladino clover in mixie grass-clover swards Banvel, U-46 and Hedonal gave good control. The percentage of ladino clover under herbicide tratment decreased to about 1-2%(Banvel), 11-18%(U-46) and 22-31%(Hedonal), respectively, while it increased to 71% in untreated pastures. However, in the second year this trend stated to reverse and occurred clover dominance again in U-46 and Hedonal application, while those remained approximately constant until end of the years under Banvel treatment. Simazin is to be not recommended. 2. The best time for herbicide treatment was found to be late summer before autumn sown 20-25 days. When it applied in early summer weed infestigation by Digitaria spp., Echinochloa spp. and other species was a severe problem. 3. Emergence and early development of introduced pastures were less satisfactory, if it oversown immediatley after herbicide treatments due to its phytotoxical damage. Residual chemicals remained about 7-10 days in topsoils. Perennial ryegrass and orchardgrass were slightly less tolerant than the other species. 4. In dry matter, taken as average of three year results, Banvel applied pastures produced the remarkably high yield of 1023 kg/10 a, which is as much as 44% higher than that of untreated plot. Dry matter yields under U-46 and Hedonal treatment were 842 and 811 kg/10 a, respectively. 5. Weender components and net energy concentration were affected by change in the botanical composition. Crude protein and NEL value were slightly higher in clover dominance than those in herbicide treatments. Total yields of net energy lactation, however, were the highest in Banvel application with 5401 MJ and the lowest in untreatment with 3889 MJ-NEL/10 a DM.

• Journal of The Korean Society of Grassland and Forage Science
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• v.6 no.2
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• pp.124-130
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• 1986

To find out the optimum split application ratios of fertilizer nitrogen and potassium in the newly opened pasture at spring, a field experiment was conducted. Two levels of nitrogen and potassium application and three split application ratios of both fertilizer were treated by split design with 4 replications. The experiment was carried out from March, 1984 to October, 1985 on the experimental field of the Livestock Experiment Station in Suweon. The results obtained are summarized as follow: 1. Total DM yield was not showed signigicant difference among split application ratios of nitrogen and potassium. 2. DM yield of grasses was 4,854 kg/ha in heavy basal application of N and $K_2$O (160 kgN: 140 kg $K_2$O/ha), it was significantly increased by 16% than of conventional dressing (80 kg N: 70 kg $K_2$O/ha). But there was almost no difference in dry matter among N and $K_2$O split application ratios. 3. Dry matter yield of legume in heavy basal dressing was decreased by 23% than that of conventional dressing. In the methods of NK application, dry matter yield of legume was tended to decrease by 3% with equal application and 9% with heavy dressing in autumn, when compared with that of heavy dressing in spring. 4. There was no significant difference in dry matter yield of native species between different basic fertilization levels, but dry matter yield of native species was decreased by 6% with equal application and more increased by 11% with heavy dressing in autumn, when compared with the yield of heavy dressing in spring. 5. In aspect of the botanical composition, the percentage distribution of grasses was increased and the ratio of legume was greatly decreased by heavy dressing at basal fertilization. Also for good maintenance of botanical composition, it is suggested that the equal split application of N and $K_2$O was desirable.

• Journal of The Korean Society of Grassland and Forage Science
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• v.4 no.3
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• pp.194-200
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• 1984

Effects of seed coating on establishment, early growth and herbage production were investigated in Pot, Soil box and Field experiments. Seed was coated with 60% Lime, 20% Phosphate and 20% Peatmoss(W/W), also finely sprayed 13% Arabic gum and 2% Methyl cellulose(W/V). Coating were generally 1:20, seed: coat(W/W). 1. In the general growth of the growing stages and different oversown species at 80 days, seed coated was promoted than none in early growth. (Table 2 and 3) 2. Stand counts at 60 days after oversown, seed coated was higher 15% than none, especially, there was advantage due to coating on the medium and large size seeds such as Orchardgrass, Perennial ryegrass and Kentucky bluegrass, but did not assist establishment of the large (Tall fescue) and small (Ladino clover) size seed. 3. Variation of sward composition was not quite different between two treatments, but seed coated was slightly increased the Percentage of sown grasses with advance of cutting time. 4. Total dry metter yield per unit area with seed coated was higher 17% than none in establishment year. 5. Variations in the chemical composition of the herbage and soil were influenced by coating materials in the coating regime (Table 8). 6. From these facts, seed coated also appeared that adequate seedling stands, early growth and herbage production could be obtained with higher than conventional overseeding method under a poor conditions.

• Parasites, Hosts and Diseases
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• v.30 no.3
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• pp.201-208
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• 1992

A Theileria sergenti soluble merozoite preparation containing the 29, 34, 35 and 105 KD as the immunodominant polypeptides, was evaluated for efficacy, safety and protectivity in Holstein calves against virulent field tick challenge. The soluble antigens (100 mg/dose) were fortified with either complete or incomplete Freund's adjuvant. Twenty naive calves, aged one month, were subcutaneously inoculated with the preparation and a booster dose was administered 4 weeks later. Twenty additional calves served as controls. Five weeks after the booster dose, vaccinates and uninoculated controls were moved to a pasture, a heavily tick infested area in Cheju-do, Korea. The vaccinates showed negligible change in hematocrit and total RBC count whereas control animals showed significant (p<0.05) hematological changes and associated anemia. Only 30% of vaccinates required chemotherapy after the experiment was terminated. All control animals required chemotherapy and 25% received blood transfusion. The highest percent parasitized erythrocytes in vaccinated cattle was 0.4% as compared with 3.6% among controls during the month of July. A significant difference (p<0.05) was observed in the rate of body weight increase. Significant difFerences were also noted in serum albumin, aspartate aminotransferase, total protein and bilirubin. Significantly more vaccinated cattle maintained normal ranges of hematological and biochemical values as compared with the control group. It is suggested that soluble merozoite T. sergenti antigens may be potential vaccine candidates for developing a genetic vaccine in Korea.

• Journal of Animal Environmental Science
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• v.15 no.2
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• pp.99-106
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• 2009

We conducted a comparison experiment of our wide-area spraying high speed fan with a fan which was developed by Japan MARUYAMA Inc. have been much recognized for it's history and skills in a field of spraying machine. In result, MARUYAMA Inc. fan sprayed up to 120 m and, on the other hand, wide-area spraying high speed fan of our own making was able to spray up to more than 160 m. Wide-area spraying machine have been supplied to domestic demands by importing from Japan, but it is determined to be possible that home products will occupy market for it's ability, price and A/S environment in future. The main research results are below. Some plastic cups which are in the open market are used for our experiment. After distributing 90 cups in a range of 10m vertically with localizing 5 cups horizontally and 18 cups vertically, spraying machine was moved and finally we make distribution charts by estimating the sprayed amounts on each cup. Vertical distance was set up to 5m and we calculated average values by using sprayed amount and data of 4 observers. In result our fan showed much sprayed amounts than MARUYAMA Inc. all over the field except situations of vehicle departing and stopping.

• Journal of The Korean Society of Grassland and Forage Science
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• v.11 no.4
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• pp.252-257
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• 1991

In a two-year's field experiment, the effectiveness of magnesium-and boron-enriched complex fertilizer (CF, N-P$_2$O$_{5}$-K$_2$O-MgO-B$_2$O$_3$: 14-10-12-3-0.2) on the maintenance and management of hilly pasture was studied. The effects of CF and some straight fertilizers (SF) on forage yields, yield components, and chemical compositions were compared in a mixed grass-clover (orchardgrass, tall fescue, kentucky bluegrass, and ladino clover) and a pure grass (orchardgrass) swards. The results are summarized as follows: 1. Considerably higher average dry matter yields were obtained in the CF plots than in the SF plots. In the mixed sward, the yields of whole mixed forages were inclosed by 10.8-14.5%, grasses by 11%, and legume by 21.5-31.0% by the use of the CF over the use of SF. In the pure grass sward, the yield of grasses was increased by 7.0-21.8%. 2. The rates of yield increase due to the application of CF were dependent on such factors as types of sward (pure or mixed), application rates of NPK, and forage species. The increase of forage yields due to the CF was greater at the normal rate of NPK application than at lower application rate, and in legume forage than in grass forage. 3. The crude fiber, crude fat and NFE contents of forages were not significantly changed by different treatments. However, the forage of CF plot at the normal application rate of NPK contained relatively higher amount of crude protein and crude fat compared with the forages of other plots. 4. There were no significant differences in the contents of mineral nutrients in forages among the different treatments. In spite of the application of Mg-enriched CF, the contents of Mg in soils and forages were below the optimum level.

• Journal of The Korean Society of Grassland and Forage Science
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• v.30 no.2
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• pp.127-134
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• 2010

A study was conducted to determine the effects the of cattle manure application on forage yield, quality and soil in orchard grass pasture at the experimental field of Subtropical Animal Experiment Station, National Institute of Animal Science from 2008 to 2009. The experiment was arranged in a randomized complete block design with three replications. The treatment consisted of chemical fertilizer (CF N-200 kg/ha), cattle manure 50% (basis N, CM50%), CM100% (basis N), CM200% (basis N). The dry matter (DM) yield of CM200% was the highest among the other treatments. CF showed the highest average crude protein (CP) content by 12.4% and CM50% showed the lowest content by 11.0%. Average acid detergent fiber (ADF) and neutral detergent fiber (NDF) content were 30.4 and 69.7% respectively. All treatments have narrow range of total digestibility nutrient (TDN) from 64.0% to 69.1%. But there were big difference between treatment in forage nitrate content. Changes of physical and chemical properties of soils for applications of CF 200% and CM 200% was clearly in cattle manure application. Especially, CM application in pasture increased CF application with respect to soil pH, organic matter (OM), and avaliable phosphorous ($P_2O_5$) contents of soils.

• Journal of The Korean Society of Grassland and Forage Science
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• v.8 no.3
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• pp.85-91
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• 1988

A field experiment was conducted to determine the effects of shading degrees (0: full sunlight, 25, 50 and 75%) on the proximate components, cell wall constituents (CWC), digestibility, water soluble carbohydrates (WSC) and nitrate nitrogen ($NO_3$-N) concentration of grasses grown in forest. For the test different artificial shading houses were established and pasture species used were orchardgrass, timothy, perennial ryegrass and ladino clover. The experiment was performed at LES in Suwon. 1985. 1. Considering proximate components, CWC and digestibility of grasses, ladino clover showed the best quality, and then perennial ryegrass. 2. The contents of crude protein, crude ash, and digestibility of grasses were increased with shading, regardless of pasture species. As the shading degrees are increased, the contents of crude fiber in orchardgrass, perennial ryegrass and timothy were decreased, while that in ladino clover was increased with shading. 3. Grasses grown in spring showed higher digestibility than those grown in summer season. 4. The content of WSC was the highest in perennial ryegrass, and then ladino clover, orchardgrass, and timothy, in that order. Also WSC was decreased as the shading degrees are increased. 5.The content of $NO_3$-N was the highest in perennial ryegrass, and then orchardgrass, ladino clover and timothy, in that order. Also the $NO_3$-N was significantly increased with higher shading level. In the regression equation between shading degrees and $NO_3$-N ($r^2$=0.90**, TEX>$r^2$=0.95**), shading degree of 43 to 44% was critical level, causing nitrate poisoning to animal. 6 Considering grass quality, dry matter yield and $NO_3$-N, less than 40% of shading degree (over 60% of full sunlight) was desirable for better grassland improvement, management and utilization in the forest.

• Korean Journal of Soil Science and Fertilizer
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• v.19 no.3
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• pp.231-238
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• 1986

This field experiment was undertaken to assess the effects of three levels of inclination ($10^{\circ}$, $20^{\circ}$ and $30^{\circ}$) and four rates of $N-P_2O_5-K_2O$ (0-0-0, 14-10-10, 28-25-25, and 42-40-40 kg/10a) on the hilly pasture concerning to establishment, forage yield and quality, and botanical composition in the mixed grass-clover sward set up on a new reclaimed woodland by an oversowing method. This part was concerned with the concentration and mutual balance of mineral nutrients in relation to grass tetany hazard. The results obtained were summarized as follows: 1. Concentration of exchangeable Mg, relative proportions of Mg to CEC, K, and Ca in soil were considerably below the critical level for good forage growth and prevention of grass tetany. These properties were rather worsened by increasing the inclination grade and the NPK rate. 2. Compared with the critical level for the likelihood of tetany (Mg < 0.2%, K > 2.5%, and K/(Ca+Mg) equivalent ratio > 2.2 in forages in DM basis), mean concentration of Mg in mixed forages turned out to range from 0.09 to 0.14%. 2.6% of K concentration and 2.5 of K/(Ca+Mg) equivalent ratio were shown to be at a normal NPK rate. The likelihood of grass tetany was generally enhanced by increasing the inclination grade and the NPK rate. 3. The increasing of the inclination grade and NPK rate rather aggravated the low Mg concentration and unbalanced mutual ratios of mineral nutrients, from which resulted the grass tetany hazard and the depression of forage growth. To prevent these two resulted factors, Mg fertilization on grassland and/or extra Mg supplement to dairy cattle needed to be carried out. 4. The Ca/P ratios in the mixed forages ranging from 1.0 to 2.0 were reduced by the increased rate of NPK, whereas the difference due to inclination grade was yet to be recognized.