• Asian-Australasian Journal of Animal Sciences
• /
• v.23 no.10
• /
• pp.1308-1318
• /
• 2010

The purpose of this study was to evaluate the effect of replacing soybean meal with treated castor meal with (CMT) or without lime (CMNT) on the nutrient intake, performance, carcass characteristics, and yield of commercial cuts of beef cattle from a feedlot. Thirty male, castrated, crossbreed zebu cattle were used in the study, with an average initial weight of $360{\pm}30.27\;kg$. Five animals were used as a control group and were slaughtered at the beginning of the experiment; the remaining animals (n = 25) were distributed in random blocks (repetitions), with body weight as the criterion for block assignment. The animals were fed a diet containing 65% corn silage and 35% of concentrate on dry matter (DM) basis. Five diets consisted of four levels of soybean meal (SM) substituted with CMT (0, 33, 67 and 100%) on a DM basis and a diet with 100% of SM replaced with CMNT. At the end of the experiment, all animals were slaughtered, and their gastrointestinal tracts were emptied to determine their empty body weights (EBW). No significant effects were observed (p>0.05) for the substitution of soybean meal with CMT on intake of dietary nutrients, the average daily body weight gain (ADG) or EBW gain (EBWG). In spite of greater (p<0.05) ricin intake for the diet containing CMNT (3.06 mg/kg BW) compared to the CMT diet (0.10 mg/kg BW/d), there were no effects (p>0.05) on intake of dietary nutrients, ADG or EBWG. The average intake of DM and the ADG were 10,664.63 and 1,353.04 g/d, respectively. Regarding carcass characteristics, only carcass yield in relation to body weight was linearly reduced (p<0.05) upon substitution of SM by CMT. There was no effect (p>0.05) of the substitution of SM by CMT or CMNT on the yield of carcass basic cuts. CMT prices that are higher than 85% of the SM price do not economically justify the use of CMT. For CMT prices between 20 and 80% of the SM price, the optimal level was 67% substitution, while for prices below 15% of the SM price, the optimal level was 100% substitution with CMT. It can be concluded that treated castor meal with 6% lime can totally replace soybean meal in beef cattle diets.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.12
• /
• pp.1193-1200
• /
• 2015

An effective swing trajectory of legged robots is different from the swing trajectories of humans or animals because of different dynamic characteristics. Therefore, it is important to find optimal parameters through experiments. This paper proposes a real-time nonlinear programming (RTNLP) method for optimization of the swing trajectory of the legged robot. For parameterization of the trajectory, the swing trajectory is approximated to parabolic and cubic spline curves. The robotic leg is position-controlled by a high-gain controller, and a cost function is selected such that the sum of the motor inputs and tracking errors at each joint is minimized. A simplified dynamic model is used to simulate the dynamics of a robotic leg. The purpose of the simulation is to find the feasibility of the optimization problem before an actual experiment occurs. Finally, an experiment is carried out on a real robotic leg with two degrees of freedom. For both the simulation and the experiment, the design variables converge to a feasible point, reducing the cost value.

• Journal of Positioning, Navigation, and Timing
• /
• v.9 no.3
• /
• pp.207-214
• /
• 2020

In this paper, we implement linear-quadratic-Gaussian based vector tracking loop (LQG-VTL) instead of conventional extended Kalman filter based vector tracking loop (EKF-VTL). The LQG-VTL can improve the performance compared to the EKF-VTL by generating optimal control input at a specific performance index. Performance analysis is conducted through two factors, frequency thermal noise and frequency dynamic stress error, which determine total frequency tracking error. We derive the thermal noise and the dynamic stress error formula in the LQG-VTL. From frequency tracking error analysis, we can determine control gain matrix in the LQG controller and show that the frequency tracking error of the LQG-VTL is lower than that of the EKF-VTL in all C/N0 ranges. The simulation results show that the LQG-VTL improves performance by 30% in Doppler tracking, so the LQG-VTL can extend pre-integration time longer and track weaker signals than the EKF-VTL. Therefore, the LQG-VTL algorithm is more robust than the EKF-VTL in weak signal environments.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.5
• /
• pp.399-405
• /
• 2007

This paper deals with the controller for a stable walking of a humanoid robot using genetic algorithm. A humanoid robot has instability during walking because it isn't fixed on the ground, and its nonlinearities of the joints increase its instability. If controller isn't robust, the robot may fall down at the ground during walking because of its nonlinearities. To solve this problem, robust controller is required to reduce the effect of nonlinearities and to gain the good tracking performance. In this paper, motion controller that is based on fuzzy-sliding mode controller is proposed. This controller can remove the effect of the saturation by limitation of the input voltage. It also includes compensator for reducing the effect of the nonlinearity by backlash and PI controller improving the tracking performance. In here, genetic algorithm is used for searching the optimal gains of the controller. From the given controller, a humanoid robot can moved more preciously. All the processes are investigated through simulations and are verified experimentally in a real joint system for a humanoid robot.

• Journal of the Korean Institute of Navigation
• /
• v.22 no.4
• /
• pp.59-67
• /
• 1998

A quick and automatic detection with no harm to the goods is very important task for improving quality control, process control and labour reduction. In real fields of industry, defect detection is mostly accomplished by skillful workers. A narrow band eliminating spatial filter having characteristics of removing the specified spatial frequency is developed by the author, and it is proved that the filter has an excellent ability for on-line and real time detection of surface defect. By the way,. this spatial filter shows a ripple phenominum in filtering characteristics. So, it is necessary to remove the ripple component for the improvement of filter gain, moreover efficiency of defect detection. The spatial filtering method has a remarkable feature which means that it is able to set up weighting function for its own sake, and which can to obtain the best signal relating to the purpose of the measurement. Hence, having an eye on such feature, theoretical analysis is carried out at first for optimal design of narrow band eliminating spatial filter, and secondly, on the basis of above results spatial filter is manufactured, and finally advanced effectiveness of spatial filter is evaluated experimentally.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.19 no.12
• /
• pp.2353-2363
• /
• 1994

This paper is concerned with the design of a robust digital controller using reduced-order observer on a robotic manipulator under the disturbance. In most cases of robotic manipulator since all state vectors are not measurable, the unmeasurable state vectors must be estimated or reconstructed. Other problems are caused by the nonlinear element like as nondifferentiable Coulomb friction, disturbance due to the gravitational pull, and the torsional spring effect of a link between the drive motor and the manipulator arm. The controller is based on feeding back the observable variables and the estimated state variables which are generated by the observer, and augmenting the system by additional discrete integrators. The feedback gain parameters are obtained by first applying the optimal control theory and then readjusting the feedback parameters to eliminate the limit cycle by using describing Function for nonlinear hybrid system.

• The Transactions of the Korean Institute of Electrical Engineers P
• /
• v.53 no.3
• /
• pp.122-128
• /
• 2004

This paper presents a control approach for designing a fuzzy-PI controller for a synchronous generator excitation and SVC system. A combination of thyristor-controlled reactors and fixed capacitors(TCR-FC) type SVC is recognized as having the most flexible control and high speed response, which has been widely utilized in power systems, is considered and designed to improve the response of a synchronous generator, as well as controlling the system voltage. A Fuzzy-PI controller for SVC system was proposed in this paper. The PI gain parameters of the proposed Fuzzy-PI controller which is a special type of PI ones are self-tuned by fuzzy inference technique. It is natural that the fuzzy inference technique should be based on humans intuitions and empirical knowledge. Nonetheless, the conventional ones were not so. Therefore, In this paper, the fuzzy inference technique of PI gains using MMGM(Min Max Gravity Method) which is very similar to humans inference procedures, was presented and applied to the SVC system. The system dynamic responses are examined after applying all small disturbance condition.

• Animal Bioscience
• /
• v.35 no.5
• /
• pp.721-729
• /
• 2022

Objective: An experiment was conducted to determine the effects of supplementing graded concentrations of inorganic sulphur (S) without and with folic acid (FA) in maize-soybean meal diets on performance, slaughter and anti-oxidant variables, immune responses and serum protein fractions in broiler chicken. Methods: Inorganic S was supplemented at 0.05%, 0.10%, 0.15%, and 0.20% alone or in combination with FA (4 mg/kg) in basal diet (BD) containing no supplemental methionine (Met) and FA. A control group was fed with the recommended concentration of Met. Each diet was offered to 10 pens of 5 male broiler chicks (Cobb 400) and fed ad libitum from day 1 to 42. Results: The broilers fed the BD had lower body weight gain (BWG), feed efficiency (FE), higher lipid peroxidation (LP), lower activity of glutathione peroxidase (GSHPx), lower lymphocyte proliferation ratio (LPR), and reduced concentrations of total protein, albumin, and globulin in serum. Supplementation of FA and S to the BD improved the BWG (all concentrations of S) and FE (0.20% S) similar to the control group. Similarly, the combination of S and FA significantly improved the concentrations of total protein, albumin, and globulin in serum, reduced the LP and increased the activity of GSHPx and LPR. However, responses in the above parameters were related to the concentration of S in the diet. The slaughter variables and antibody titres against the Newcastle disease were not affected with the treatments. Conclusion: Based on the results, it is concluded that the combination of S (0.2%) and FA (4 mg/kg) improved the BWG and FE, similarly supplementation of these nutrients improved the concentration of protein fractions and reduced the stress (reduced LP and improved GSHPx) variables in serum and improved the cell mediated immune response (LPR) in broilers fed sub-optimal concentrations of Met in diet.

• Journal of Drive and Control
• /
• v.20 no.4
• /
• pp.1-8
• /
• 2023

In recent years, robots have been utilized in various industries to reduce workload and enhance work efficiency. The following mobility offers users convenience by autonomously tracking specific locations and targets without the need for additional equipment such as forklifts or carts. In this paper, deep learning techniques were employed to recognize individuals and assign each of them a unique identifier to enable the recognition of a specific person even among multiple individuals. To achieve this, the distance and angle between the robot and the targeted individual are transmitted to respective controllers. Furthermore, this study explored the control methodology for mobility that tracks a specific person, utilizing Simultaneous Localization and Mapping (SLAM) and Proportional-Integral-Derivative (PID) control techniques. In the PID control method, a genetic algorithm is employed to extract the optimal gain value, subsequently evaluating PID performance through simulation. The SLAM method involves generating a map by synchronizing data from a 2D LiDAR and a depth camera using Real-Time Appearance-Based Mapping (RTAB-MAP). Experiments are conducted to compare and analyze the performance of the two control methods, visualizing the paths of both the human and the following mobility.

• Animal Bioscience
• /
• v.35 no.12
• /
• pp.1948-1956
• /
• 2022

Objective: This study was conducted to evaluate the effects of selenium (Se) source and level on the physiological response, reproductive performance, serum Se level, and milk composition in gestating sows. Methods: A total of 54 multiparous sows (Yorkshire×Landrace) with average body weight (BW), backfat thickness (BF), and parity were assigned to one of five treatments with 10 or 11 sows per treatment using a 2×2 factorial arrangement with one additional treatment in a completely randomized design. Inorganic or organic Se (IS or OS) sources were added to the diet at 0.30 ppm and 0.50 ppm Se. A non-Se-fortified corn-soybean meal basal diet served as a negative control. Treatments were as follows: i) Control: corn-soybean based diet, ii) IS30: control+inorganic Se 0.30 ppm, iii) IS50: control+inorganic Se 0.50 ppm, iv) OS30: control+ organic Se ppm, and v) OS50: control+organic Se 0.50 ppm. Results: At day 21 of lactation, piglet weight and weight gain in the OS treatments were higher than those in the IS treatments (p<0.05). Meanwhile, adding 0.5 ppm Se also resulted in the same significant differences in piglet BW and weight gain (p<0.05). Colostrum and milk Se concentrations increased (p<0.05) with Se level for both Se sources but were greater when sows were fed organic Se (p<0.05). Except for 24 hours postpartum, the Se concentrations were higher when sows were fed organic Se (p<0.05). Sow serum Se content was greater as Se levels increased from 0.3 ppm to 0.5 ppm at day 110 of gestation, 24 hours postpartum and day 21 of lactation (p<0.05). The pig serum Se concentration increased as the dietary Se level increased (p<0.05) and was higher when the sow dietary Se source was organic (p<0.05). Organic Se 0.5 ppm also had the highest serum Se level at two measured points (p<0.05). Conclusion: Consequently, supplementation with organic Se or 0.5 ppm Se in a gestating diet could improve piglet performance, the Se status of sows and piglets and milk composition, but organic Se at 0.5 ppm is optimal.