• Asian-Australasian Journal of Animal Sciences
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• 제28권5호
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• pp.703-715
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• 2015

One of the challenges to increase milk production in a large pasture-based herd with an automatic milking system (AMS) is to grow forages within a 1- km radius, as increases in walking distance increases milking interval and reduces yield. The main objective of this study was to explore sustainable forage option technologies that can supply high amount of grazeable forages for AMS herds using the Agricultural Production Systems Simulator (APSIM) model. Three different basic simulation scenarios (with irrigation) were carried out using forage crops (namely maize, soybean and sorghum) for the spring-summer period. Subsequent crops in the three scenarios were forage rape over-sown with ryegrass. Each individual simulation was run using actual climatic records for the period from 1900 to 2010. Simulated highest forage yields in maize, soybean and sorghum- (each followed by forage rape-ryegrass) based rotations were 28.2, 22.9, and 19.3 t dry matter/ha, respectively. The simulations suggested that the irrigation requirement could increase by up to 18%, 16%, and 17% respectively in those rotations in El-Nino years compared to neutral years. On the other hand, irrigation requirement could increase by up to 25%, 23%, and 32% in maize, soybean and sorghum based rotations in El-Nino years compared to La-Nina years. However, irrigation requirement could decrease by up to 8%, 7%, and 13% in maize, soybean and sorghum based rotations in La-Nina years compared to neutral years. The major implication of this study is that APSIM models have potentials in devising preferred forage options to maximise grazeable forage yield which may create the opportunity to grow more forage in small areas around the AMS which in turn will minimise walking distance and milking interval and thus increase milk production. Our analyses also suggest that simulation analysis may provide decision support during climatic uncertainty.

• 한국축산시설환경학회지
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• 제13권3호
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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++.

• 한국축산시설환경학회지
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• 제20권3호
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• pp.97-104
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• 2014

This study was conducted to examine the effect of different types of milking instrument and season on milk composition (fat, protein, non-fat milk solids, milk urea nitrogen and somatic cell count) on Holstein-Friesian lactating cows. Raw milk samples were collected from 20 automatic milking system (AMS) installed dairy farms and 85 conventional milking system (CMS) installed dairy farms. Milk fat, protein, NFMS and MUN contents did not changed between AMS and CMS and different seasons. On the other hand, the average SCC in AMS was $239{\times}10^3cells/mL$ which was lower than in CMS ($373{\times}10^3cells/mL$, (p<0.05). In conclusion, present results indicated that SCC in milk might be influenced by AMS. However, this area needed more study to confirm the reason of reducing SCC content from AMS.

• Asian-Australasian Journal of Animal Sciences
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• 제28권7호
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• pp.1044-1052
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• 2015

The aim of this modelling study was to investigate the effect of large herd size (and land areas) on walking distances and milking interval (MI), and their impact on milk yield and economic penalties when 50% of the total diets were provided from home grown feed either as pasture or grazeable complementary forage rotation (CFR) in an automatic milking system (AMS). Twelve scenarios consisting of 3 AMS herds (400, 600, 800 cows), 2 levels of pasture utilisation (current AMS utilisation of 15.0 t dry matter [DM]/ha, termed as 'moderate'; optimum pasture utilisation of 19.7 t DM/ha, termed as 'high') and 2 rates of incorporation of grazeable complementary forage system (CFS: 0, 30%; CFS = 65% farm is CFR and 35% of farm is pasture) were investigated. Walking distances, energy loss due to walking, MI, reduction in milk yield and income loss were calculated for each treatment based on information available in the literature. With moderate pasture utilisation and 0% CFR, increasing the herd size from 400 to 800 cows resulted in an increase in total walking distances between the parlour and the paddock from 3.5 to 6.3 km. Consequently, MI increased from 15.2 to 16.4 h with increased herd size from 400 to 800 cows. High pasture utilisation (allowing for an increased stocking density) reduced the total walking distances up to 1 km, thus reduced the MI by up to 0.5 h compared to the moderate pasture, 800 cow herd combination. The high pasture utilisation combined with 30% of the farm in CFR in the farm reduced the total walking distances by up to 1.7 km and MI by up to 0.8 h compared to the moderate pasture and 800 cow herd combination. For moderate pasture utilisation, increasing the herd size from 400 to 800 cows resulted in more dramatic milk yield penalty as yield increasing from c.f. 2.6 and 5.1 kg/cow/d respectively, which incurred a loss of up to $AU 1.9/cow/d. Milk yield losses of 0.61 kg and 0.25 kg for every km increase in total walking distance (voluntary return trip from parlour to paddock) and every one hour increase in MI, respectively. The high pasture utilisation combined with 30% of the farm in CFR in the farm increased milk yield by up to 1.5 kg/cow/d, thereby reducing loss by up to $0.5/cow/d (c.f. the moderate pasture and 800 cow herd scenario). Thus, it was concluded that the successful integration of grazeable CFS with pasture has the potential to improve financial performance compared to the pasture only, large herd, AMS.

• 농촌지도와개발
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• 제19권4호
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• pp.799-831
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• 2012

본 연구는 자동착유시스템 도입에 따른 농가의 투자효과 분석을 통해 자동착유시스템을 신규로 도입하려는 농가의 적합성 조건 등을 파악하는데 있다. 고전적 투자분석방법인 NPV는 모든 농가에서 동일하게 142백만원의 투자효과가 있는 것으로 분석되었다. 실물옵션을 이용해 분석한 결과 옵션의 가치는 기본분석에서 12,304천원, 낙관적인 경우 13,415천원 그리고 비관적인 경우는 11,336천원으로 분석되었다. 따라서 e-NPV의 값은 각각 153,826천원, 154,937천원, 152,858천원으로 분석되었다. 퍼지실물옵션에 의한 투자효과를 살펴보면 먼저, 옵션의 가치는 기본분석에서 11,993~19,968천원, 낙관적인 경우 13,090~21,449천원 그리고 비관적인 경우에는 11,051~18,313천원으로 각각 분석되었으며, e-NPV의 값은 각각 153,515~161,489천원, 154,612~162,970천원, 152,573~159,835천원으로 분석되었으며, 투자효과의 가치가 단일 값이 아닌 구간으로 설정해 유동적인 자본투자 기대효과를 그대로 반영하고 있는 것을 알 수 있다.

• Journal of Animal Science and Technology
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• 제65권1호
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• pp.244-257
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• 2023

The study aimed to investigate the effect of low-frequency oscillations on the cow udder, milk parameters, and animal welfare during the automated milking process. The study's objective was to investigate the impact of low-frequency oscillations on the udder and teats' blood circulation by creating a mathematical model of mammary glands, using milkers and vibrators to analyze the theoretical dynamics of oscillations. The mechanical vibration device developed and tested in the study was mounted on a DeLaval automatic milking machine, which excited the udder with low-frequency oscillations, allowing the analysis of input parameters (temperature, oscillation amplitude) and using feedback data, changing the device parameters such as vibration frequency and duration. The experimental study was performed using an artificial cow's udder model with and without milk and a DeLaval milking machine, exciting the model with low-frequency harmonic oscillations (frequency range 15-60 Hz, vibration amplitude 2-5 mm). The investigation in vitro applying low-frequency of the vibration system's first-order frequencies in lateral (X) direction showed the low-frequency values of 23.5-26.5 Hz (effective frequency of the simulation analysis was 25.0 Hz). The tested values of the first-order frequency of the vibration system in the vertical (Y) direction were 37.5-41.5 Hz (effective frequency of the simulation analysis was 41.0 Hz), with higher amplitude and lower vibration damping. During in vivo experiments, while milking, the vibrator was inducing mechanical milking-similar vibrations in the udder. The vibrations were spreading to the entire udder and caused physiotherapeutic effects such as activated physiological processes and increased udder base temperature by 0.57℃ (p < 0.001), thus increasing blood flow in the udder. Used low-frequency vibrations did not significantly affect milk yield, milk composition, milk quality indicators, and animal welfare. The investigation results showed that applying low-frequency vibration on a cow udder during automatic milking is a non-invasive, efficient method to stimulate blood circulation in the udder and improve teat and udder health without changing milk quality and production. Further studies will be carried out in the following research phase on clinical and subclinical mastitis cows.

• Asian-Australasian Journal of Animal Sciences
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• 제27권3호
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• pp.422-430
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• 2014

Pasture-based automatic milking systems (AMS) require cow traffic to enable cows to be milked. The interval between milkings can be manipulated by strategically allocating pasture. The current experiment investigated the effect of replacing an allocation of grazed pasture with grazed soybean (Glycine max) with the hypothesis that incorporating soybean would increase voluntary cow traffic and milk production. One hundred and eighty mixed age, primiparous and multiparous Holstein-Friesian/Illawarra cows were randomly assigned to two treatment groups (n = 90/group) with a $2{\times}2$ Latin square design. Each group was either offered treatments of kikuyu grass (Pennisetum clandestinum Hoach ex Chiov.) pasture (pasture) or soybean from 0900 h to 1500 h during the experimental period which consisted of 2 periods of 3 days following 5 days of training and adaptation in each period with groups crossing over treatments after the first period. The number of cows trafficking to each treatment was similar together with milk yield (mean ${\approx}18$ L/cow/d) in this experiment. For the cows that arrived at soybean or pasture there were significant differences in their behaviour and consequently the number of cows exiting each treatment paddock. There was greater cow traffic (more cows and sooner) exiting pasture allocations. Cows that arrived at soybean stayed on the allocation for 25% more time and ate more forage (8.5 kg/cow/d/allocation) relative to pasture (4.7 kg/cow/d/allocation). Pasture cows predominantly replaced eating time with rumination. These findings suggest that replacing pasture with alternative grazeable forages provides no additional incentive to increase voluntary cow traffic to an allocation of feed in AMS. This work highlights the opportunity to increase forage intakes in AMS through the incorporation of alternative forages.

• Journal of Dairy Science and Biotechnology
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• 제33권3호
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• pp.209-214
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• 2015

AMS와 CMS 및 보호지방의 급여 여부가 우유 성분과 유지방 특성에 미치는 영향을 조사하기 위하여 본 연구를 실시하였다. 착유방식과 보호지방 급여 여부에 따라 AMS 및 CMS 목장을 각 4개소씩 선정하여 월 1회 집합유 원유시료를 채취하였으며, 총 5개월간 유성분, 유지방구(MFG) 크기, 지방산 및 유리지방산 조성을 분석하였다. 착유방식에 따른 일반 유성분, MFG 크기, 지방산 조성의 유의적 차이는 관찰되지 않았으나, AMS로 착유된 우유의 유리지방산 함량이 CMS로 착유된 우유에 비해 유의적으로(p<0.05) 높았으며, 이는 AMS 의 착유 횟수가 CMS에 비해 더 많았기 때문인 것으로 판단된다. 보호지방을 급여한 농장의 우유를 비급여 농장과 비교하였을 때 유성분에는 차이가 없었으나 장쇄지방산(LCFA) 함량이 더 높은 것으로 나타났으며, 유지방구의 크기 또한 증가하는 경향을 보였는데 이는 급여한 보호지방의 주요지방산인 LCFA가 유지방으로 전이되었기 때문으로 해석된다. 또한 공시한 모든 AMS 목장에서 원유의 산패문제는 발생하지 않았는데, 유리지방산 함량이 CMS에 비해 유의적으로 높았지만 산패를 일으킬 정도로 높은 수준은 아니었던 것으로 판단된다. 이상의 결과를 바탕으로 할 때 AMS는 유성분 및 유지방 특성의 측면에서 CMS 대비 주목할 만한 차이를 보이지 않았으며 보호지방의 급여는 유지방구 크기 및 장쇄지방산 농도에 영향을 미치므로 향후 목장형 유가공을 실시할 경우 이를 응용할 여지가 있을 것으로 사료된다.

• 전자공학회논문지
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• 제51권9호
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• pp.238-247
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• 2014

착유로봇 시스템은 움직이는 젖소의 유두 위치를 정확하게 검출해야 하고, 로봇 매니퓰레이터는 검출된 유두 위치값을 추적하여 착유컵이 유두에 장착하도록 제어되어야 한다. 제안된 착유로봇 매니퓰레이터는 위치검출 레이저 센서를 이용하여 유두를 스캐닝하고 임베디드 구동제어장치를 통하여 독립된 3축 브러쉬리스 서보 구동제어 메커니즘에 의하여 구현된다. 이 로봇 매니퓰레이터는 유두 위치검출용 레이저센서, 4개의 착유컵, 3축 x, y, z축의 매니퓰레이터, g축 방향 이송기능을 가진 유두인 식장치와 착유컵 구동장치, 임베디드 구동제어장치와 자동 밀크 제어라인으로 구성된다. 제안된 로봇시스템은 구동시스템 전체가 전기구동방식으로 설계되어 있기 때문에 구조가 간단하고, 저가로 제작이 가능하며, 구동시에 소음이 적기 때문에 젖소의 심적 안정성을 줄 수 있는 장점을 가지고 있다. 설계된 로봇은 축산과학원 농장에서 젖소를 대상으로 실험을 실시하였으며, 실험결과에 의하여 설계사양의 성능조건이 만족됨을 확인하였다.

• 한국임상수의학회지
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• 제13권2호
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• pp.140-143
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• 1996

In this paper the development of an automatic body temperature measuring system which can be attached to the milking machine has been studied. Since the disease is highly related to the body temperature of the cattle, early detection of the abnormal temperature would prevent the severe problems which may occur in dairy farms. The electronic component AD590 is used as a temperature sensor for the system. The device is highly robust against the noise since the output signal is the current. So it can be applied to the long distance sensing. The resolution of the signal is $0.1{\circ}C$ and the current is 10 mV. Also the A/D converter is designed for interfacing the sensor with a computer. A temperature measuring experiment using the developed system has been done for measuring the temperature of human beings and the system was proven to be useful for measuring the body temperature of the dairy cattle properly.