• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.67 no.8
• /
• pp.1089-1098
• /
• 2018

In this paper, we propose an autonomous feeding robot and its obstacle classification system using ultrasonic sensors to secure the driving safety of the robot and efficient feeding operation. The developed feeding robot is verified by operation experiments in a cattle shed. In the proposed classification algorithm, not only the maximum amplitude of the ultrasonic echo signal but also two gradients of the signal and the variation of amplitude are considered as the feature parameters for object classification. The experimental results show the efficiency of the proposed classification method based on the Support Vector Machine, which is able to classify objects or obstacles such as a human, a cow, a fence and a wall.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1525-1529
• /
• 2004

Most of the recently developed robots are human friendly robots which imitate an animal or human such as entertainment robot, bio-mimetic robot and humanoid robot. Interest in these robots are increasing since the social trend is focused on health, welfare, and graying. By these social backgrounds, robots become more human friendly and suitable for home or personal environment. The more bio-mimetic robots resemble living creature, the more human feels familiarity. People feel close friendship not only when they feed a pet, but also when they watch a pet having the food. Most of entertainment robots and pet robots use internal-type batteries and have a self-recharging function. Entertainment robots and pet robots with internal-type batteries are not able to operate during charging the battery. So far there have been a few robots that do not depend on a battery. However, they need a bulky energy conversion unit and a slug or foods as an energy source, which is not suitable for home or personal application. In this paper, we introduce a new bio-mimetic entertainment robot with autonomous feeding functionality, called ELIRO-1(Eating LIzard RObot version 1). The ELIRO-1 is able to find a food (a small battery), feed by itself and evacuate. We describe the design concept of the autonomous feeding mechanism of the ELIRO-1, characteristics of sub-parts of the manufactured mechanism and the control system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.6
• /
• pp.573-579
• /
• 2006

Most of the recently developed robots are human friendly robots which imitate an animal or human such as entertainment robot, biomimetic robot and humanoid robot. Interest in these robots is increased because the social trend is focused on health, welfare, and graying. By these social backgrounds, robots become more human friendly and suitable or home or personal environment. The more biomimetic robots resemble living creature, the more human feels familiarity. Human feels close friendship not only when feeding a pet, but also when watching a pet having the food. Most of entertainment robots and pet robots use internal-type batteries and have a self-recharging function. Entertainment robots and pet robots with internal-type batteries are not able to operate during charging the battery. So far there have been a few robots that do not depend on an internal battery. However, they need a bulky energy conversion unit and a slug or foods as an energy source, which is not suitable for home or personal application. In this paper, we introduce a new biomimetic entertainment robot with autonomous eating functionality, called EPRO-1(Eating Pet RObot version 1). The EPRO-1 is able to eat a food (a small battery), by itself and evacuate. We describe the design concept of the autonomous eating mechanism of the EPRO-1, characteristics of sub-parts of the manufactured mechanism and its control system.

• Polymer(Korea)
• /
• v.39 no.2
• /
• pp.261-267
• /
• 2015

The inclusion complexes (ICs) between polylactic acid (PLA) and ${\beta}$-cyclodextrin (CD) were prepared by co-precipitation method in this work. The orthogonal experiments were designed to investigate the influence of different factors on the formation of inclusion complexes. The results suggested that the optimum scheme of inclusion compounds could be obtained when the feeding ratio of CD to PLA (wt%) was 20:1, stirring speed was 6 kr/min and the stirring time was 30 min. The structures and properties of the inclusion complexes were characterized by $^1H$ NMR, FTIR, DSC, FT-Raman, XRD and TGA. The DSC results demonstrated that the crystallization behavior of the inclusion complexes nearly disappeared. It was found that ${\beta}$-CD-PLA inclusion complex had a better thermal stability compared with the neat PLA. The model of the inclusion complexes was proposed on the basis of XRD, $^1H$ NMR and DSC results.

• Asian-Australasian Journal of Animal Sciences
• /
• v.27 no.2
• /
• pp.187-193
• /
• 2014

As a result of the cost of grains, the replacement of grains by co-products (i.e. DDGS) in feedlot diets is a common practice. This change produces diets that contain a lower amount of starch and greater amount of fibre. Hypothetically, combining feed grade urea (U) with slow release urea (Optigen) in this type of diet should elicit a better synchrony between starch (high-rate of digestion) and fibre (low-rate of digestion) promoting a better microbial protein synthesis and ruminal digestion with increasing the digestible energy of the diet. Four cannulated Holstein steers ($213{\pm}4$ kg) were used in a $4{\times}4$ Latin square design to examine the combination of Optigen and U in a finishing diet containing different starch:acid detergent fibre ratios (S:F) on the characteristics of digestive function. Three S:F ratios (3.0, 4.5, and 6.0) were tested using a combination of U (0.80%) and Optigen (1.0%). Additionally, a treatment of 4.5 S:F ratio with urea (0.80% in ration) as the sole source of non-protein nitrogen was used to compare the effect of urea combination at same S:F ratio. The S:F ratio of the diet was manipulated by replacing the corn grain by dried distillers grain with solubles and roughage. Urea combination did not affect ruminal pH. The S:F ratio did not affect ruminal pH at 0 and 2 h post-feeding but, at 4 and 6 h, the ruminal pH decreased as the S:F ratio increased (linear, p<0.05). Ruminal digestion of OM, starch and feed N were not affected by urea combination or S:F ratio. The urea combination did not affect ADF ruminal digestion. ADF ruminal digestion decreased linearly (p = 0.02) as the S:F ratio increased. Compared to the urea treatment (p<0.05) and within the urea combination treatment (quadratic, p<0.01), the flow of microbial nitrogen (MN) to the small intestine and ruminal microbial efficiency were greater for the urea combination at a S:F ratio of 4.5. Irrespective of the S:F ratio, the urea combination improved (2.8%, p = 0.02) postruminal N digestion. As S:F ratio increased, OM digestion increased, but ADF total tract digestion decreased. The combination of urea at 4.5 S:F improved (2%, p = 0.04) the digestible energy (DE) more than expected. Combining urea and Optigen resulted in positive effects on the MN flow and DE of the diet, but apparently these advantages are observed only when there is a certain proportion of starch:ADF in the diet.

• Asian-Australasian Journal of Animal Sciences
• /
• v.26 no.11
• /
• pp.1553-1561
• /
• 2013

Forty-eight crossbred heifers ($378.1{\pm}18$ kg) were used in a 56-d feeding trial (four pens per treatment in a randomised complete block design) to evaluate the influence of ionophore supplementation on growth performance, dietary energetics and carcass characteristics in finishing cattle during a period of heat stress. Heifers were fed a diet based on steam-flaked corn (2.22 Mcal $NE_m/kg$) with and without an ionophore. Treatments were: i) control, no ionophore; ii) 30 mg/kg monensin sodium (RUM30); iii) 20 mg/kg lasalocid sodium (BOV20), and iv) 30 mg/kg lasalocid sodium (BOV30). Both dry matter intake (DMI) and climatic variables were measured daily and the temperature humidity index (THI) was estimated. The maximum THI during the study averaged 93, while the minimum was 70 (THI average = $79.2{\pm}2.3$). Compared to controls, monensin supplementation did not influence average daily gain, the estimated NE value of the diet, or observed-to-expected DMI, but tended (p = 0.07) to increase (4.8%) gain to feed. Compared to controls, the group fed BOV30 increased ($p{\leq}0.03$) daily gain (11.8%), gain to feed (8.3%), net energy of the diet (5%), and observed-to-expected DMI (5.2%). Daily weight gain was greater (7.6%, p = 0.05) for heifers fed BOV30 than for heifers fed MON30. Otherwise, differences between the two treatments in DMI, gain to feed, and dietary NE were not statistically significant (p>0.11). Plotting weekly intakes versus THI, observed intake of controls was greater (p<0.05) at THI values ${\leq}77$ than ionophore groups. When THI values were greater than 79, DMI of control and MON30 were not different (p = 0.42), although less than that of groups fed lasalocid (p = 0.04). Variation in energy intake was lower (p>0.05) in the ionophores group (CV = 1.7%) than in the control group (CV = 4.5%). Inclusion of ionophores in the diet resulted in relatively minor changes in carcass characteristics. It is concluded that ionophore supplementation did not exacerbate the decline of DM intake in heat-stressed cattle fed a high-energy finishing diet; on the contrary, it stabilised feed intake and favoured feed efficiency. Ionophore supplementation reduced estimated maintenance coefficients around 10% in finishing cattle during a period of heat stress. This effect was greatest for heifers supplemented with 30 mg lasalocid/kg of diet.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.26 no.12
• /
• pp.2511-2518
• /
• 2002

Dynamic behaviors and stability of an optical disk drive coupled with an automatic ball balancer (ABB) are analyzed by a theoretical approach. The feeding system is modeled a rigid body with six degree-of-freedom. Using Lagrange's equation, we derive the nonlinear equations of motion for a non -autonomous system with respect to the rectangular coordinate. To investigate the dynamic stability of the system in the neighborhood of the equilibrium positions, the monodromy matrix technique is applied to the perturbed equations. On the other hand, time responses are computed by the Runge -Kutta method. We also investigate the effects of the damping coefficient and the position of ABB on the dynamic behaviors of the system.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2001.11b
• /
• pp.983-988
• /
• 2001

Dynamic behaviors and stability of an optical disk drive coupled with an automatic ball balancer(ABB) are analyzed by a theoretical approach. The feeding system is modeled a rigid body with six degree-of-freedom. Using Lagrange's equation, we derive the nonlinear equations of motion for a non-autonomous system with respect to the rectangular coordinate. To investigate the dynamic stability of the system in the neighborhood of the equilibrium positions, the monodromy matrix technique is applied to the perturbed equations. On the other hand, time responses are computed by the Runge-Kutta method. We also investigate the effects of the damping coefficient and the position of ABB on the dynamic behaviors of the system.

• Asian-Australasian Journal of Animal Sciences
• /
• v.29 no.1
• /
• pp.73-79
• /
• 2016

The objective was to evaluate the effect of fodder tree species (FTS) with condensed tannin contents: Cordia elaeagnoides, Platymiscium lasiocarpum, Vitex mollis, and Haematoxylon brasiletto, on in vitro methane ($CH_4$) production at 24 h post incubation. The analysis was performed using the in vitro gas production technique, with three levels of inclusion/species: 600, 800, and 1,000 mg and with 4 replicates/species/level of inclusion. The substrate was incubated at $39^{\circ}C$, and the gas and $CH_4$ production were recorded at 4, 8, 12, and 24 h post incubation. The data collected was analyzed through Pearson correlation, polinomial regression and fixed effects models. There were negative correlations between FTS-total gas volume (r = -0.40; p<0.001); FTS-volume of $CH_4$ produced (r = -0.40; p<0.001) and between the inclusion level-volume of $CH_4$ produced (r = -0.20; p<0.001). As well as a positive correlation between hours post incubation-total gas volume (r = 0.42; p<0.001) and between hours post incubation-volume of $CH_4$ produced (r = 0.48; p<0.001). The FTS: C. elaeagnoides, V. mollis, and H. brasiletto have potential, in the three inclusion levels analyzed, to reduce $CH_4$ emission on in vitro trials (>32.7%), taking into account the total $CH_4$ production at 24 h of the forage used as reference (Avena sativa). It's suggested that C. elaeagnoides-according to its crude protein, neutral detergent fiber, and condensed tannins content- is the best alternative within the FTS analyzed, for feeding ruminants and for the control of $CH_4$ emissions during the dry season.