This paper presents how the control performance of the feature-based visual servo system is improved by utilizing the redundant features. It also proves the effectiveness of the redundant features to increase the accuracy of the visual servo system by using the smallest singular value of a matrix called image Jacobian. Real time experiments on a PUMA 560 manipulator show usefulness of the redundant features to improve the performance.

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The acaricide milbemectin causes high mortality of newly hatched larvae of the agromyzid leafminer, Liriomyza trifolii (Burgess) on kidney bean plants. A similar effect is observed with use of emamectin, which, like milbemectin, is derived from chemicals produced by soil bacteria. Most of the 1- and 2-day-old leafminer larvae died after application of milbemectin at 20ppm. Even at 7.5ppm, significantly fewer larvae grew to pupa compared to controls. Use of milbemectin did not have any adverse effect on development of the parasitoid Diglyphus isaea (Walker) during the larval and pupal stages nor on the survival rate of the emerged adult wasps. These results indicate that milbemectin can be integrated into IPM programs to control both L. trifolii and mites.

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Nickel based alloy with corrosion and heat resistance characteristics is used for products which are required high temperature corrosion resistance such as industrial turbine machinery. With the large scale structures, nickel based alloy is used as overlay welding material in order to obtain its excellent characteristics. Moreover, for butt welding of Liquefied Natural Gas（LNG）tank wall, nickel based alloy is used as welding material for the sake of its low-temperature strength and toughness. Then nickel based alloy welding with 100% argon shielding gas gathers attention as not only securing toughness for cryogenic service products but also its high quality of welding metal. In the overlay welding to obtain the excellent characteristics of overlaid metal, it is required that the dilution of a base metal is low. In other word, it is necessary to weld suppressing the heat input. On the other hand, weld defect like lack of fusion caused by insufficient heat input must be avoided. And the wettability of beads is also the problem with low heat input. Therefore, the key technique of overlay welding is controlling the heat input properly. Duplex Current Feeding MIG（DCF-MIG）welding has the feature that controlling the wire feeding speed and the current（i.e. heat input）independently. In this study, the experimental study was conducted applying DCF-MIG to overlay welding using nickel based alloy welding material. As the experimental result, the characteristics of DCF-MIG using nickel based alloy welding material was clarified. And it was found out that the size of droplet was related to the shape of penetration. Furthermore, it is shown that DCF-MIG has an advantage on overlay welding.

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This paper discusses potential and stable region problems in feature-based visual servoing. Visual servoing controllers proposed so far are valid only for the features in the neighborhood of the reference features. For initial features far from the reference may converge to a feature set that is different from the reference. Even worse, for some special cases the camera moves away from the reference position. In this paper, the visual servoing is considered as a potential minimization problem whose potential being squared error of the features. Stable region is visualized by using the potential and artificial potential switching control is proposed to enlarge the stable region.

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This paper describes the implementation issues of visual servo controller on a Linux-based real-time operating system. The Linux operating system is a Unix-like multi-user multi-task operating system and it is distributed freely. The real-time linux module adds a capability for hard real-time functionality, that is necessary for robot control, to Linux. Also a graphical user interface has been implemented on the basis of X Window System and Qt library. The implementation issues and some experimental data are presented. Discussion on the real-time control against the disturbance loads such as optical flow computation and heavy background processes are given.

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In 1994, a resistant strain of Botrytis cinerea to diethofencarb mixtures was found for the first time in Gunma Prefecture. From 1994 to 1996, resistant strains to diethofencarb mixtures on cucumber spread throughout the area year after year.

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北海道においてジャガイモ疫病による塊茎腐敗に対する薬剤の効果を的確に判定するための試験条件を検討した．その結果，１．ばれいしょは塊茎腐敗の発生が多くなる8 月末以降の低地温期に試験可能である中晩生～晩生品種を用いること，２．試験薬剤の散布開始時に均一かつ十分量の伝染源を確保するため，疫病初発期から8 月初旬までマンゼブ水和剤もしくは銅剤による圃場全面防除を行うこと，３．無処理区の早期枯凋による判定不能を回避するため，塊茎腐敗に対して効果の低いマンゼブ水和剤の区を比較対照区として設けること，これら3 点を考慮した試験設計が必要と考えられた．上記設計に基づき実施した3 カ年の試験では，供試薬剤の塊茎腐敗に対する防除効果を安定して評価できた．供試薬剤のうち，アミスルブロム水和剤とシアゾファミド水和剤は効果が認められ，シモキサニル・TPN 水和剤は効果が低く，マンゼブ水和剤は実用的な防除効果は無いと判断された．

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