• 한국임상수의학회지
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• 제15권2호
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• pp.450-454
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• 1998

These studies were performed to find out the possibility of automatic detection of the diseased animal with fever by farmers themselves. Firstly, the body temperature of 331 dairy cows was investigated according to major disease symptoms manifested. Secondly, AD 590 thermometer was used to take the teat temperature of the milking cows to determine the possibility of automatic taking of body temperature while milking. The temperatures of scapha of ear and coccygeal artery part were also taken fur the non-milking dairy cows and Korean native cowl 1. The average body temperature of dairy cows associated with respiratory diseases puerperal disease, or mastitis was higher than normal temperature denoting respectively 39.8,39.6, and $39.3{\circ}C.2.$ The teat temperaure of the milking dairy cows with fever($39.5~39.6{\circ}C$) and the cows with mastitis was respectively 1.02 and 0.56${\circ}C$ higher than that of normal cows. 3. The average teat temperature taken by AD 590 was 33.91, 34.93, and 34.50${\circ}C$ in normal milking dairy cows, cows with fever(39.5~39.6${\circ}C$), and cows with mastitis, respectively. 4. The mean temperatures at scapha and coccygeal part of non-milking dairy cows and Korean native cows were 35.62 and 36.63${\circ}C$, respectively. It was concluded that AD 590 thermometer would be usable for the farmers to automatirally detect the body temperature of dairy cows while milking and subsquently to find the diseased cow with fever and that the scapha of ear and coccygeal artery part of the cattle could be the body parts of simply detecting body temperature of non-milking cattle.

• 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.

• Journal of Animal Science and Technology
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• 제48권4호
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• pp.487-492
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• 2006

본 연구는 우군의 일일 유량에 대한 비유형질의 특성을 분석하고자 하였으며 공시된 젖소는 농촌진흥청 축산연구소에서 사육된 착유우로서 2005년 11월부터 2006년 4월까지 1일 2회 착유를 하는 우군의 자료를 이용하였다. 시험축은 하나의 우군으로 동일한 사양조건에 의하여 관리된 종모우 66두를 가지는 착유우 154두에서 수집된 기록 12,561개를 분석하였다. 공시축의 평균유기는 139.7일, 평균산차는 1.9산, 착유당 평균유량 13kg을 나타내었다. 평균 비유속도는 최고 비유속도의 64% 수준으로 측정되었다. 비유지속시간, 최고비유속도, 평균비유속도, 착유당 평균유량에 대하여 오후 착유 보다 오전 착유가 높게 나타났고, 산차간에서는 비유지속시간을 제외하고 산차증가와 함께 증가하는 경향이었다. 비유지속시간, 최고비유속도, 평균비유속도 및 착유당 평균 유량에 대한 유전력은 각 0.49, 0.70, 0.58, 0.36으로 비교적 높게 추정되었다. 한편 비유지속시간과 비유속도간에는 부의 유전상관이, 비유지속시간과 착유당 유량간에는 정의 상관이, 최고비유속도에 대한 평균비유 속도(0.87)와 착유당 유량(0.23)은 정의 상관을 보였고, 평균비유속도와 착유당 유량간(0.30)에도 정의 유전상관을 보였다. 결론적으로 비유속도는 유량과 함께 증가하였으나 비유지속시간과는 부의 관계를 보였으나 보다 의미 있는 유전적 특성을 파악하기 위하여 더 많은 두수를 이용한 연구가 필요할 것으로 사료된다.

• Asian-Australasian Journal of Animal Sciences
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• 제28권6호
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• pp.903-910
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• 2015

To maintain a predominantly pasture-based system, the large herd milked by automatic milking rotary would be required to walk significant distances. Walking distances of greater than 1-km are associated with an increased incidence of undesirably long milking intervals and reduced milk yield. Complementary forages can be incorporated into pasture-based systems to lift total home grown feed in a given area, thus potentially 'concentrating' feed closer to the dairy. The aim of this modelling study was to investigate the total land area required and associated walking distance for large automatic milking system (AMS) herds when incorporating complementary forage rotations (CFR) into the system. Thirty-six 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 6 rates of replacement of each of these pastures by grazeable CFR (0%, 10%, 20%, 30%, 40%, 50%) were investigated. Results showed that AMS cows were required to walk greater than 1-km when the farm area was greater than 86 ha. Insufficient pasture could be produced within a 1 km distance (i.e. 86 ha land) with home-grown feed (HGF) providing 43%, 29%, and 22% of the metabolisable energy (ME) required by 400, 600, and 800 cows, respectively from pastures. Introduction of pasture (moderate): CFR in AMS at a ratio of 80:20 can feed a 400 cow AMS herd, and can supply 42% and 31% of the ME requirements for 600 and 800 cows, respectively with pasture (moderate): CFR at 50:50 levels. In contrast to moderate pasture, 400 cows can be managed on high pasture utilisation (provided 57% of the total ME requirements). However, similar to the scenarios conducted with moderate pasture, there was insufficient feed produced within 1-km distance of the dairy for 600 or 800 cows. An 800 cow herd required 140 and 130 ha on moderate and high pasture-based AMS system, respectively with the introduction of pasture: CFR at a ratio of 50:50. Given the impact of increasing land area past 86 ha on walking distance, cow numbers could be increased by purchasing feed from off the milking platform and/or using the land outside 1-km distance for conserved feed. However, this warrants further investigations into risk analyses of different management options including development of an innovative system to manage large herds in an AMS farming system.

• Journal of Dairy Science and Biotechnology
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• 제34권4호
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• pp.245-254
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• 2016

최근 보급이 증가되고 있는 AMS가 목장형 유가공장에서 생산되는 치즈의 특성에 미치는 영향을 알아보기 위한 연구를 실시하였다. 첫 번째 연구에서는 AMS 및 CMS 농장에서 원유를 채취하여 동일한 조건에서 각각 고다치즈를 제조하여 6개월 숙성시킨 다음 일반 성분 및 유리지방산 분석과 관능평가를 실시하였고, 두 번째 연구에서는 목장형 유가공장 7곳에서 제조한 고다치즈 시료를 채취하여 일반성분과 조직 특성을 비교하였다. 본 연구 결과, 고다치즈의 일반성분은 조회분을 제외하고는 착유 방식이나 목장에 따른 유의적인 차이가 나타나지 않았고, 유리지방산은 각 목장에 따른 차이를 보여주었으나 관능평가에 영향을 미치지 않았으며, 착유 방식에 의한 유리지방산 및 관능평가 결과에서도 유의적인 차이도 발견할 수 없었다. 조직 특성 역시 목장 간에 유의적 차이가 컸던 관계로 착유방식에 따른 차이는 나타나지 않았다. 결론적으로 착유방식은 목장형 유가공장에서 제조한 고다치즈의 특성에는 영향을 미치지 않을 것으로 판단되며, 향후 같은 고다치즈라 하더라도 각 목장별로 차별화하여 전통과 개성이 있는 목장형 유가공 제품으로 발전할 가능성을 보인 것으로 사료된다.

• 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++.

• Journal of Biosystems Engineering
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• 제26권2호
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• pp.163-168
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• 2001

A manipulator for test-cup attachment modules, which was a part of a robot milking system, was developed to reduce cost and labor for cow milking processing. A Cartesian coordinate manipulator was designed for the milking process, because it was quite flexible and can be constructed more economically than any other configuration. The manipulator was made use of DC motors, screws for power transmission, a RS422 interface system for the transmission of coordinate values and a one-chip microprocessor, 89C52. Performance tests of the manipulator were conducted to measure experimentally the precision of all axes. Some of the results are as follows. 1. The Cartesian coordinate manipulator was designed and built. Dimension of the three perpendicular axes (X, Y, and Z) and one arm’s axis(W) to pick up and transfer the modules were 700㎜$\times$450㎜$\times$550㎜$\times$650㎜. The arm’s axis moved the teat-cup attachment module, which attached four teat-cup to four teats, detached four teat-cup from four teats, was designed and manufactured by using CAD, CAM and CNC. 3. After 10 replications of exercising the manipulator, mean precision values(positioning error) of X, Y, Z axes wee 0.48㎜, 0.20㎜, 0.19㎜, respectively. Therefore, we conclude the axes to have a precision better than 0.5㎜, had no problem to operate correctly the milking manipulator.

• 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.

• 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.