• 월간낙농육우
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• v.34 no.8
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• pp.162-165
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• 2014

국내 낙농경영이 복합경영에서 규모화된 전업농 또는 기업농 형태의 단일경영으로 빠르게 변하고 있다는 것은 모두가 알고 있는 사실이다. 이에 따라 착유시설 또한 많은 변화가 있었으며, 사육규모 및 두당 유생산랑과 정(正)의 상관관계를 갖고 있다. 국내 낙농산업의 초창기 또는 본격적인 도입기였던 1970년대와 1980년대 초반은 가구당 착유우 두수가 10두 미만이었으며 주로 손으로 착유를 하였다. 1980년대 중반 이후, 콤프레셔와 버킷설비가 목장에 도입되었으며, 냉각기 보조금 지급 및 보냉 집유차량이 목장별로 운행하기 시작하였다. 1990년대에는 버킷식 착유기가 파이프라인식 착유기로 전환되면서 착유시스템이 일부 자동화됨에 따라 노동력을 낮추고 원유의 위생안전성을 향상시킬 수 있었다. 2000년대에는 많은 목장에서 탠덤 또는 헤링본식 착유시스템을 도입하였으며, 이후 일부 착유두수가 60두 이상인 대규모 농가에서는 자동착유시스템을 도입하여 현재에 이르고 있다. 사실 전업농, 기업농으로 전환된 단일경영에서 지동착유시스템의 도입에 많은 관심을 보이고 있으나, 고가의 자동칙유시스템에 대한 한정된 정보에서 기인하는 리스크(위험요소) 등으로 인하여 섣불리 결정을 내리지 못하고 있는 실정이다. 이에 자동착유시스템의 구성 국내 외 도입 현황 및 장 단점 사례조사 결과와 함께 현재 농가의 자동착유시스템 도입 결정에 도움을 주기 위해 진행하고 있는 연구 과제를 소개하고자 한다.

• Journal of Animal Environmental Science
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• v.17 no.3
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• pp.189-196
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• 2011

The present study was conducted to investigate effects of auto milking system (AMS) on milk yield and milk composition in dairy cow using dairy herd improvement (DHI) record. DHI records for 147 cows were compared between a year before and after AMS use. AMS significantly increased daily milk yield compared with the conventional milking system (30.4kg vs 34.3 kg for CMS and AMS, respectively). There were no significant differences in the contents of milk fat (3.7% vs 3.8% for CMS and AMS) and milk protein (3.2% vs 3.2% for CMS and AMS) between CMS and AMS. But the yields of milk fat and milk protein were significantly higher for AMS than for CMS. Average somatic cell counts were 169,400/ml (1st grade) before AMS use but increased by 314,400/ml (2nd grade) after AMS use. Overall, AMS increased milk yield and the yields of milk fat and protein without affecting milk composition but also increased somatic cell count.

• Journal of Agricultural Extension & Community Development
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• v.19 no.4
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• pp.799-831
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• 2012

This study was accomplished to support farmers who want to introduce Automatic Milking System. The methods of analysis is considered on it as investment analysis that NPV, ROV and FROV. As a classical investment analysis technique, NPV showed 142 thousand won on the every senarioes. On the other hands, The Real Option Analysis showed 153,826, 154,937 and 152,858 on the normal, optimistic and pessimistic senarioes respectively. it is considered as a investment analysis technique for strategic decision-making. But, it may have problem to evaluate present value of expected cash flows and expected costs by a single number. To solve those problems, this paper tried to evaluate Fuzzy Real Option Model which were jointed with a real option model and Fuzzy set model. The result of analysis showed, on respective senarioes, 153,515 to 161,489, 154,612 to 162,970, and 152,573 to 159,835 on the interval estimation. Thereby It is a more realistic in many cases.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.9
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• pp.238-247
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• 2014

The milking robot system is very important to detect correctly the teats position in the moving condition of cow. Also, the robot manipulator must control tracking the teat cup to the detected teat position. The presented milking robot is designed using the one point laser sensor for teat position detection. The teats of cow are detected by the laser scanning unit and the manipulator has the function of 3 axes moving control unit. The presented teat detection method and the electrical driving manipulator have the advantages of a simple, low cost and very quiet. The designed manipulator is realized by the totally electrical motor and servo poison control algorithm with velocity PID compensation. The presented robot is realized using the teat detection unit, 4 teat cups, 3 axes robot arm, 6 servo motors and automatic milking control line. The designed robot is experimented in the cow farm and is satisfied with the designed performance specification for milking robot manipulator.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1999.07a
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• pp.159-164
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• 1999

현재 우리나라 낙농업은 사양관리, 축사관리, 기록관리 등에서 많은 변화가 일어나고 있다. 이들 변화의 대부분은 낙농에 마이크로 컴퓨터 기술을 응용함과 최근에 사양관리를 위한 전자장비의 개발에 의하여 이루어지고 있다. 특히 우리는 가축당의 노동력과 축산에서의 중노동의 절감, 가축의 생산성의 향상, 그리고 보다 나은 작업환경과 의사결정을 위한 시스템의 개발이 절실히 필요하다. 또한 가축의 사료급여, 급수, 건강관리 번식, 축사의 환기 및 열 관리 등을 자동으로 관리 할 수 있는 계측 시스템과 관리 컴퓨터와 온라인(on-line)화 할 수 있는 시스템의 개발도 필요하다. (중략)

• Journal of Dairy Science and Biotechnology
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• v.32 no.2
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• pp.63-70
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• 2014

Automatic milking systems (AMS) have been increasingly introduced to Korean dairy farms. However, in comparison with conventional milking systems (CMS), some negative changes in milk quality are being observed. The use of AMS leads to an increase in milking frequency, which in turn might result in higher physical stress on the milk, possibly causing changes in the milk fat globule (MFG) membrane. Therefore, the purpose of this study was to examine the effect of the different milking systems on the milk quality, with a focus on milk fat properties. At the same time, we studied the effect of feeding the dairy cows with protected fat. Raw milk samples were taken monthly from individual cows as well as from bulk tanks at four AMS and four CMS dairy farms. We measured quality-related parameters such as MFG size distribution, free fatty acid content and composition, and acid values. Although most results showed no significant differences with regard to the milking system, we found a relatively high positive correlation between MFG size and milk fat content. Moreover, larger MFG size was observed in the milk when cows had been fed protected fat. The significantly higher (P< 0.05) free fatty acid content of milk observed under this experimental condition could be attributed to higher milking frequency as a result of using AMS.

• Journal of Animal Environmental Science
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• v.13 no.3
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• pp.179-186
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• 2007

The purpose of this study was kinematics analysis of the multi-joint robot manipulator for an automatic milking system. The multi-joint robot manipulator was consisted of one perpendicular link and four revolution links to attach simultaneously four teat cups to four teats of a milking cow. The local coordinates of each joints on the robot manipulator was given for kinematics analysis. The transformation of manipulator was able to be given by kinematics using Denavit-Hatenberg parameters. The value of inverse kinematics which was solved by two geometric solution methods. The kinematics solutions was verified by AutoCAD, MATLAB, simulation program was developed using Visual C++.

• Journal of Animal Environmental Science
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• v.8 no.3
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• pp.199-208
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• 2002

This paper introduces the method to make management network about milking cow farm tasks. The object of this research was to design of biological measuring system and managing network system in a livestock farm. This auto-management system provides informations about individual cows' temperature, conductivity of milk and weight for efficient management of feeding, and milking works by a micro-processor and RS -485 type serial COM. ports. And measured bio-data which are basic informations for remote raising management are saved to user PC by serial communication between the PLC and user PC. Milking cow farm is divided into three working place to each measurement work and feed. The first working place is milking station which has two thermometers, a conduct meter and a scale set. The second working place is feeding station, and the third place is cattle cage. These are combined by network system and the PLC which is used to drive network and sub-modules. Sub-modules have a micro-process to control the sensor and to interface with network. The PLC which drive network and control sequence has two serial communication port to be linked with user PC for sending the measured data and for receiving data. Above all, in this study tells the sequence operating method by the driving scenario of breeding milk cow for livestock auto-management using the PLC and network system.

• Journal of Animal Environmental Science
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• v.21 no.2
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• pp.65-70
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• 2015

Total three hundred and fourteen dairy cows were used in this study to analysis of correlation between milking levels and automatic milking system (AMS). Cows were divided into five groups according to their milking levels (over 50 kg/day, 49~40 kg/day, 39~30 kg/day, 29~20 kg/day, 19~10 kg/day). All groups were compared with daily milking number, rejected number by AMS, residence time at AMS, milking time, flow rate of milk. Daily milking number and milking time were higher in the group of over 50 kg and 49~40 kg than that of other groups (p<0.05). There are no correlation on rejected number by AMS, residence time at AMS and flow rate of milk between milking levels and AMS. In addition, we found that the milk yield affected to feed intake and rumination of dairy cows. In conclusion, present results indicated that installation of AMS on dairy farms with high milk producing cows might be affected positively.

• Journal of Animal Environmental Science
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• v.17 no.1
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• pp.39-48
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• 2011

The present survey was conducted to provide basic information on automatic milking system (AMS) in relation to purchase motive, milk yield and quality, customer satisfaction, difficulties of operation and customer suggestions, etc. Purchase motives of AMS were insufficient labor (44%), planning of dairy experience farm (25%), better performance of high yield cows (19%) and others (6%), respectively. Average cow performance after using AMS was 30.9l/d for milk yield, 3.9% for milk fat, 9,100/ml for bacterial counts. Sixty-eight percentage of respondents were very positive in response to AMS use for their successors but 18% were negative. The AMS operators were owner (44%), successor (44%), wife (6%) and company worker (6%), respectively. The most difficulty (31%) in using AMS was operating the system and complicated program manual. The rate of response to system error and breakdown was 25%. The reasons for culling cow after using AMS were mastitis (28%), reproduction failure (19%), incorrect teat placement (12%), metabolic disease (7%) and others (14%), respectively. Fifty-six percentages of the respondents made AMS maintenance contract and 44% did not. Average annual cost of the maintenance contract was 6,580,000 won. Average score for AMS satisfaction measurement (1 to 5 range) was 3.2 with decrease of labor cost 3.7, company A/S 3.6, increase of milk yield 3.2 and decrease of somatic cell count 2.8, respectively. Suggestions for the higher efficiency in using AMS were selecting cows with correct udder shape and teat placement, proper environment, capital and land, and attitude for continuous observation. Systematic consulting was highly required for AMS companies followed by low cost for AMS setup and systematization of A/S.