• 제목/요약/키워드: Milking system

검색결과 90건 처리시간 0.025초

RESULTS AND FURTHER DEVELOPMENT OF AN AUTOMATIC MILKING SYSTEM

  • Toth, L.;Bak, J.
    • 한국농업기계학회:학술대회논문집
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    • 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
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    • pp.779-790
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    • 1993
  • A prototype of the feeding-milking robot was developed in the Hungarian Institute of Agricultural Engineering in 1988-89. Before starting with the operation tests the cleaning system had to be elaborated . The cleaning system has two parts. Those are the complete cleaning of the system, producing a practically sterile state, as well as flushing through the milking device between milking of two cows. Separate electronic sensor development was necessary for both system which can connect to the control system of the robot. To clean the system pneumatic air input was applied. As an effect of the local adjustment of the electronic control system optimal flow conditions can be formed what is more favourable comparing to the earlier solutions of cleaning due to the mechanical effect. In the flushing through overpressure air is applied. The air and the cleaning liquid input duration can be adjusted to the local conditions. The electronic control unit can be connected to the electric ircuits of robot.

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Chlorella protothecoides의 밀킹 전후 연속 배양 시스템을 통한 유용물질 분석 (Analysis of High-Value Materials through Continuous Cultivation System from Pre-and Post-Milking of Chlorella protothecoides)

  • 정유정;김성학;이원영;김성천
    • 한국해양바이오학회지
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    • 제10권2호
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    • pp.73-82
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    • 2018
  • Chlorella are source of valuable compounds as lipids, proteins, carbohydrates, bioactive compounds. To continuous obtain the high-value materials of Chlorella protothecoides, we performed continuous cultivation after applying milking techniques to C. protothecoides grown with culture for 7 days in optical panel bioreactor (OPBR) system. Fatty acid and lutein in extracts from pre- and post-milking of C. protothecoides were analyzed using gas chromatography and high performance liquid chromatography, respectively. C. protothecoides were rich in unsaturated fatty acids with a high content of oleic acid(C18:1), which is suitable as a biofuel feedstock. The fatty acid content in pre- and post-milking of C. protothecoides was decreased from 126.424mg/g d.w. to 119.341mg/g d.w, and the lutein content decreased from 0.258mg/g d.w. to 0.178mg/g d.w. The results of this study demonstrate the feasibility of milking C. protothecoides for production of lipids for biofuels production. It was confirmed that microalgae can continuously obtain lutein present in a trace amount through a continuous culture from milking.

로봇 착유시스템을 위한 착유컵 착탈모듈 개발 (Development of Teat-cups Attachment Module for Robot Milking System)

  • 김웅;이대원
    • Journal of Biosystems Engineering
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    • 제30권3호
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    • pp.179-184
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    • 2005
  • The purpose of this study was the development of teat-cup attachment module for robot milking system. The teat-cups attachment module was controlled on the two dimensional space independently, Each teat cup of an end effector was independently controlled via two axis control based on the position information data obtained from the image processing system. This system was developed install of all 4 teat cups at the same time after adjusting positions of each teat sequentially. The individual motion system was operated using two servo motors for the high speed of teat position adjustment. The errors fur the individual motion system of teat cups were maximum 1.0mm, minimum 0.0mm, and average 0.6mm. The operating time for adjusting the teat cups position required about 1.0 second. It is envisaged that teat cups attachment module can be applicate to milking robot being developed in consideration of the experiment results for the teat cups operation accuracy and the actuation speed of servo motors.

로봇 착유기의 착유컵 자동착탈을 위한 착유우의 유두위치 조사분석 (Position Analysis of Cow Teats for Teat-cup Attachment System on Robotic Milking System)

  • 권두중;김웅;이대원
    • 한국축산시설환경학회지
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    • 제8권3호
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    • pp.159-164
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    • 2002
  • The distance between teats of each head on twenty heads of holstein was measured in Nation Livestock Research Institute of Rural Development Administration to find design variables on the teat-cup attachment system of the auto-milking system before milking. The distance between teats was tested by the steps for milk producing in the morning and evening. The results from this study is summarized as follow. 1 The maximum and minimum length between front teats were 297mm and 112mm respectively, the maximum and minimum length between rear teats were 231mm and 36mm and the maximum and minimum length between left front and left rear were 220 and 84mm. And the maximum length of right front and right rear were 205mm and 90mm. A relative position of the each teats was asymmetric. 2. The size of teats, the length between front teats, and the length between rear teats by lactating period were very much changed for its milking. 3. The design variables on the teat-cup attachment system was found by the length between each teats tested. Since the position of teat-cup is changed by milking environment for a cow to milk, the design variables should be considered to be asymmetric area between four teat of COW.

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로봇 착유시스템을 위한 다관절 매니퓰레이터 개발 (Development of a Multi-joint Robot Manipulator for Robot Milking System)

  • 김웅;이대원
    • Journal of Biosystems Engineering
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    • 제30권5호
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    • pp.293-298
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    • 2005
  • The purpose of this study was the development of a multi-joint robot manipulator for milking robot system. The multi-joint robot manipulator was controlled by 5 drivers with driver controller through the position information obtained from the image processing system. The robot manipulator to automatically attach each teat cup to the teats of a milking cow was developed and it's motion was accurately measured with error rate. Results were as follows. 1. Maximum errors in position accuracy were 4mm along X-axis, 4.5mm along Y-axis and 0.9mm along Z-axis. Absolute distance errors were maximum 4.8mm, minimum 2.7mm, and average 3.6mm. 2. Errors of repeatability were maximum 3.0mm along X-axis, 3.0mm along Y-axis, and 0.5mm along Z-axis. Distance error values were maximum 3.2mm, minimum 2.2mm, and average 2.5mm. It is envisaged that multi-joint robot manipulator can be applicate to milking robot system being developed in consideration of the experiment results.

젖소 유방염 관리에 따른 세균 및 체세포수 등급 실태 조사 분석 (Analytical studies of bovine mastitis management by standard plate counts(SPC) and somatic cell counts(SCC))

  • 허정호;정명호;박영호;조명희;이주홍
    • 한국동물위생학회지
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    • 제21권3호
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    • pp.285-300
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    • 1998
  • 1. The number of average milking cows, clinical forms of mastitis, mastitis-developing cows, and cows killed by mastitis a year were 25.7, 1.8(7%), 6.3(26%), and 2.7(10.1%)heads, respectively. The annual grade changes of standard plate counts(SPC) and somatic cell counts(SCC) showed the grade 1A of SPC diminished sharply from April to August, we think it was due to the lack of proper management in farming season and the grade 3 of SCC indirectly influenced increased in huge during August. 2. The average number of parturitions of farms was 2.3, but 50% of below 1 parturition were 22 farms(31%), 50% of above 3 parturitions were 16(23%) out of 71 farms. According to grades of the number of parturitions of milking cows per each farm, the farms' grades recording 3 parturitions and 50% were little bit excellent. 3. The actual situation research of foremilking CMT revealed 35 out of 74 farmer didn't do CMT Among them(35 out of 74 farmers), 80% did not test thanks to the troublesome process of the CMT. SCC grade 3, among farms who did foremilking CMT once or twice a month and who did not were 29% and 40% respectively and SPC grade 1A were 55% and 9%, respectively. 4. The research of actual situation on milking management let us know 29 farms(39%) did not do lastmilking, 37 farms(49%) usually did overmilking, and 34 farms(46%) did milking for 4 or 5 minutes. Grades according to average requiring times of milking showed SCC grade 1 of farms milking within 7 minutes was 11% and SPC grade 1A was 34%, on the other side, farms milking more than 7 minutes were 0% in SCC grade 1 and 13% in SPC grade 1A. Grades according to the starting time of milking after rubbing teats showed SPC grade 1A of farms starting milking at about 1 minute and over 2 minutes were 50% and 20%, respectively. 5. The research of actual situation on hygienic milking management uncovered 65 farms(88%) were using one towel which was used in washing teats and udders to wash more than 3 to 4 cows, and 53 farms(72%) were using one dried towel to dry udders not for each cow but for more than 3 to 4 cows after washing. Also, on milking turns disclosed 30 farms(40%) were milking cows in the order of incoming without isolation of a dominant group. According to grades of towels used in washing teats and udders, farms using a towel for each cow were 56% and a towel for over 3 cows were 31% in SPC grade 1A. According to using-or-not grades of dried towels after washing udders, farms using a towel for each cow were 79% and a towel for over 3 cows were 21% in SPC grade 1A. 6. Farms doing teat-dipping before milking were 7(10%), not doing teat-dipping after milking, or doing sometimes were 9(12%), and doing right after milking were 57(77%). And farms doing teat-dipping after dry cows and before delivery were 21(28a ). Farms using bethadine as an antiseptic solution were 70(95%), 40 farms(59%) diluted it with water as weak as 5 to 10 times, and on drying cows 64 farms(87%) slowly did it more than 2 days. Grade 1A of SPC of farms doing teat-dipping at every milking was 38%, farms doing occasionally or not was 33%, and farms doing it right after milking was 37% and doing after milking more than 5 cows was 20%. Grade 1A of SPC among farms diluting bethadine 5 times and diluting 5 to 10 times with water were 36% and 33%, respectively, and Grade 3 of SCC were 35% and 32%, respectively. 7. Studies on nonlactating period medical treatment, as the cows were on dry, 54 farms treated with their own hands.73 farms(98%) had bovine mastitis treated for themselves. And on applying medicines against mastitis, 55 farmers chose them on the basis of their own experience, 42 farms(57%) were treated more than 3 days. 41 farms(55%) dumped away the mastitis infected milk separately, 24 farms(32%) were feeding and milking at the same time. 8. Fifty-six farms(76%) always washed and disinfected milking machines after milking. Farms using the milking machines at low, or variable vacuum pressures, or at the vacuum pressure, set at the moment of its installation were 31(42%), and farms that did not know pulsation ratio were 27(37%). Farms changing liners when they were torn 8(11%), 58 farms(78%) said they checked milking system when there were wrong with them, 31 farms(42%) changed milking hoses when they found out problems, and 42 farms(57%) cleaned vacuum and milking systems when they felt dirty. The SPC grade 1A of farms washing and sterilizing milking machines was 38% and farms only washing was 28%.

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착유시스템 및 계절이 홀스타인 착유우의 유성분에 미치는 영향 (Effect of Types of Milking Instrument and Season on Milk Composition in Holstein-Friesian lactating Cows)

  • 남인식;허병무;박호경;민태홍;손용석;박성민;권응기;장경만
    • 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.

일반목장과 로봇착유 목장에서 분리한 세균과 Staphylococcus aureus의 항생제 감수성 비교 (Comparison of pathogens and antimicrobial susceptibility of Staphylococcus aureus isolated from conventional and robotic milking herds)

  • 이성환;김두
    • 대한수의학회지
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    • 제54권1호
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    • pp.49-52
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    • 2014
  • This study was conducted to compare the patterns of mastitic pathogens and the antimicrobial susceptibility of Staphylococcus (S.) aureus from conventional milking (CM) and robotic milking (RM) dairy herds. To accomplish this, the minimum inhibitory concentrations of 14 antimicrobial agents were tested against S. aureus by the microdilution method. Regardless of the milking system, S. aureus, coagulase negative staphylococcus, and Streptococcus uberis were isolated. Additionally, significant differences in the antimicrobial susceptibility of S. aureus isolates between RM and CM farms were only observed in response to tetracycline.

Comparison of the fit of automatic milking system and test-day records with the use of lactation curves

  • Sitkowska, B.;Kolenda, M.;Piwczynski, D.
    • Asian-Australasian Journal of Animal Sciences
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    • 제33권3호
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    • pp.408-415
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    • 2020
  • Objective: The aim of the paper was to compare the fit of data derived from daily automatic milking systems (AMS) and monthly test-day records with the use of lactation curves; data was analysed separately for primiparas and multiparas. Methods: The study was carried out on three Polish Holstein-Friesians (PHF) dairy herds. The farms were equipped with an automatic milking system which provided information on milking performance throughout lactation. Once a month cows were also subjected to test-day milkings (method A4). Most studies described in the literature are based on test-day data; therefore, we aimed to compare models based on both test-day and AMS data to determine which mathematical model (Wood or Wilmink) would be the better fit. Results: Results show that lactation curves constructed from data derived from the AMS were better adjusted to the actual milk yield (MY) data regardless of the lactation number and model. Also, we found that the Wilmink model may be a better fit for modelling the lactation curve of PHF cows milked by an AMS as it had the lowest values of Akaike information criterion, Bayesian information criterion, mean square error, the highest coefficient of determination values, and was more accurate in estimating MY than the Wood model. Although both models underestimated peak MY, mean, and total MY, the Wilmink model was closer to the real values. Conclusion: Models of lactation curves may have an economic impact and may be helpful in terms of herd management and decision-making as they assist in forecasting MY at any moment of lactation. Also, data obtained from modelling can help with monitoring milk performance of each cow, diet planning, as well as monitoring the health of the cow.

젖소에서 유즙체온 측정을 이용한 체온 자동 측정 방법의 개발 (Development of Automatic Measurement of Body Temperature by Taking the Temperature of Milk while Milking in Dairy Cattle)

  • 김용준;한종현;이수영;한병성;김동원
    • 한국임상수의학회지
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    • 제19권1호
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    • pp.37-42
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    • 2002
  • To develop an automatic detecting system of body temperature of dairy cattle while milking, measurement of the temperature of mammary skin using three thermometers attached into the lining of teat cup was carried out for 23 dairy cattle, whereas measurement of the temperature of milk while milking was also performed for 263 animals. For the latter experiment, three thermometers were attached at 10cm(left and right) and 20 cm away from an individual milk collector on the milk transporting hose. Taking the rectal temperature was accompanied all the time for the experiments. The measurement of the temperature of mammary skin using teat cup was successful for 11 of 23 dairy cattle(47.8%) and the mean temperature was $33.5^{\circ}C$ with the mean difference of $5.2^{\circ}C$ from the mean rectal temperature. The measurement of the temperature of milk using the thermometers onto the milk transporting hose while milking was very successful , From 37.3 to $38.4^{\circ}C$ of rectal temperature, the temperature of milk was almost the same and from 38.5 to $39.5^{\circ}C$ of rectal temperature, the temperature of milk tended to be low with the difference of 0.1$^{\circ}C$. From 39.6 to $41^{\circ}C$ of rectal temperature, the temperature of milk tended to be low with the difference of $0.2-0.6^{\circ}C$. These results indicated that automatic detection of body temperature whether low or high can be possible if the temperature of milk is taken while milking and if it is connected to the integration system by on-line.