• 한국축산시설환경학회지
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• 제8권3호
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• pp.165-170
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• 2002

This study was carried out to measure the 3D-distance of a cow model teat for an application possibility on Robotic Milking System(RMS). A teat recognition algorithm was made to find 3D-distance of the model by using Gonzalrez's theory. Some of the results are as follows. 1 . In the distance measurement experiment on the test board, as the measured length, and the length between the center of image surface and the measured image point became longer, their error values increased. 2. The model teat was installed and measured the error value at the random position. The error value of X and Y coordinates was less than 5㎜, and that of Z coordinates was less than 20㎜. The error value increased as the distance of camera's increased. 3. The equation for distance information acquirement was satisfied with obtaining accurate distance that was necessary for a milking robot to trace teats, A teat recognition algorithm was recognized well four model cow teats. It's processing time was about 1 second. It appeared that a teat recognition algorithm could be used to determine the 3D-distance of the cow teat to develop a RMS.

• 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.

• Journal of Biosystems Engineering
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• 제32권1호
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• pp.44-49
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• 2007

A stereo vision system was developed for robot milking system (RMS) using two monochromatic cameras. An algorithm for inverse perspective transformation was developed for the 3-D information acquisition of all teats. To verify performance of the algorithm in the stereo vision system, indoor tests were carried out using a test-board and model teats. A real cow and a model cow were used to measure distance errors. The maximum distance errors of test-board, model teats and real teats were 0.5 mm, 4.9 mm and 6 mm, respectively. The average distance errors of model teats and real teats were 2.9 mm and 4.43 mm, respectively. Therefore, it was concluded that this algorithm was sufficient for the RMS to be applied.

• 한국축산시설환경학회지
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• 제8권3호
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• pp.171-176
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• 2002

Physical parameters of milk cow were measured to design and build RMS(Robotic Milking System) with a tape-measurer and body parameter measurer. The parameters are very important variables to design an RMS. For the working zone space of an RMS manipulator and the movement blunting of milk cow, an interval frame was installed on the stall bottom, and then cow's behavioral reactions were tested. The results from this study is summarized as follow. 1. On the general physical condition measurement, the maximum, minimum and average body length of cow which is related to the space that the manipulator could work into the RMS were 175cm, 144cm, and 163cm respectively. It appeared that the average distance between bottom and chest was 60cm. 2. The average length between fore teats, fore and hind teats and hind teats were 178mm, 150mm and 95mm respectively. It appeared that the average length between bottom and teat attachments was 544mm, and the average length between fore teats and tail-end was 331mm. 3. Although a cow kept a some extent length between hind legs for milking, it looked a stable pose. However, the cow kept a some extent distance between front legs for milking, it looked a unstable pose. Based on results of this test, an interval frame of stall bottom should be installed around the position which was located at its hind legs.

• 한국동물위생학회지
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• 제24권1호
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• pp.89-94
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• 2001

In order to investigate the relationship between milk hygienic quality and some environmental factors such as the herd size and types of milking machines, we sampled and examined the level of total bacterial count, coliforms, Staphyococcus aureus, somatic cell counts(SCC) and fat rates in raw milk. of the 84 dairy farms, the prevalence of level on number of standard plate count over 100,000cfu/$m\ell$ and coliforms over 1,000cfu/$m\ell$ in bulk milk were 25.0% and 15.6%, respectively. Also, 2 farms(2.4%) were exceed the level on number of 500cfu/$m\ell$ S aureus in raw milk. The prevalence of dairy herd with first grade of total bacterial count(TBC) according to bucket, pipe line and parlour milking system was 40.0%, 74.0% and 84.0%, respectively. The prevalence of dairy herd with first grade of TBC according to grade 1, 2 and 3 by SCC was 77.8%, 83.2%. and 69.2%, respectively. Therefore, the relationships between hygienic quality in raw milk and the herd size, types of milking machines, were significant. In conclusion, this study could be overemphasized the importance of herd management condition for milk hygienic qualify.

• 한국축산시설환경학회지
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• 제8권3호
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• pp.199-208
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• 2002

본 연구에서는 실험을 통해 PLC와 하부장치들 사이에 RS -485 직렬 통신방식의 네트웍을 이용한 정보 교환에 있어 잡음 손실이나 왜곡현상이 매우 낮다는 것을 보였다. 제시한 네트웍 방법과 알고리즘에 의해 동작하는 PLC의 효율과 작업 능력을 기반으로 작업장을 분화하여 필요한 작업을 배치한 방법은 매우 효과적이고 편리하며 유용한 정보를 제공하였다. 보다 정확한 정보의 축척과 높은 효율을 위해 본 실험에서 제시한 알고리즘과 운용방법을 각 목장에 활용할 때에는 사용자나 관리자의 요구에 따라 데이터를 통한 계측장비의 교정과 함께 수정이 필요하겠다. 하지만 무엇보다 PLC를 이용한 축산자동화를 통해 사양관리에 필요한 생체 계측 정보를 착유와 동시에 자동으로 다량 획득하여 데이터 전자 문서파일로 보관함으로서, 긴 시간의 지연 없이 사양관리 감독자에게 제공할 수 있는 방법적 해결에 유용성과 신속성을 보였고 사용자나 관리자가 필요한 작업을 수행할 때에 매일 반복적인 작업에 대한 보조적 역할을 하거나 착유 시설과 급이 시설에 완전한 자동화 무인화를 위한 보조적 장비로서 필요한 시설과 정보를 제공하는 것이 가능함을 확인하였다.

• 한국동물위생학회지
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• 제34권4호
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• pp.379-388
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• 2011

Survey of mastitis management and incidence of mastitis in the Gyeongnam was started in May to September 2009 to solve mastitis problem statistically valid data for use in estimating mastitis management, isolation and antimicrobial drug susceptibility in 30 dairy farms having over 350,000/ml somatic cell count. In investigation on recognition of farmer about bovine mastitis, the ratio of understanding of differences between infectious and environmental origin, understanding of correlation between superbacteria and using indiscriminate, necessity of pathogen identification, and necessity of antimicrobial sensitivity tests were 80.0%, 73.3%, 33.3%, and 53.3%, respectively. In survey of mastitis management type, regular california mastitis test (CMT), conducting CMT test and empirical self-treatment, when detecting suspected cows, were 30.0%, 40.0%, and 46.7%, respectively. Checking and cleaning pulsators biweekly, cleaning vacuum system and replacing liners every 3~6 month, and getting milking system checked by engineers showed 80.0%, 76.7%, and 76.7% in the questionnaires, respectively. In recognition of farmer about milking hygiene for prevention of bovine mastitis, using individual towels, separated milking (milking order of cows), and teat-dipping disinfection after milking exhibited 13.3%, 86.7%, and 93.3%, respectively. In conclusion, through the questionnaires and laboratory test, we suggest that recognition of farmer about management and incidence of mastitis was very low, thus systemic educational program and public relations about mastitis management were need for dairy farmers.

• 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.

• 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.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 2001년도 동계 학술대회 논문집
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• pp.187-192
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• 2001