• Asian-Australasian Journal of Animal Sciences
• /
• v.24 no.2
• /
• pp.285-294
• /
• 2011

The abatement of methane emission from ruminants is an important global issue due to its contribution to greenhouse gas with carbon dioxide. Methane is generated in the rumen by methanogens (archaea) that utilize metabolic hydrogen ($H_2$) to reduce carbon dioxide, and is a significant electron sink in the rumen ecosystem. Therefore, the competition for hydrogen used for methanogenesis with alternative reductions of rumen microbes should be an effective option to reduce rumen methanogenesis. Some methanogens parasitically survive on the surface of ciliate protozoa, so that defaunation or decrease in protozoa number might contribute to abate methanogenesis. The most important issue for mitigation of rumen methanogenesis with manipulators is to secure safety for animals and their products and the environment. In this respect, prophylactic effects of probiotics, prebiotics and miscellaneous compounds to mitigate rumen methanogenesis have been developed instead of antibiotics, ionophores such as monensin, and lasalocid in Japan. Nitrate suppresses rumen methanogenesis by its reducing reaction in the rumen. However, excess intake of nitrate causes intoxication due to nitrite accumulation, which induces methemoglobinemia. The nitrite accumulation is attributed to a relatively higher rate of nitrate reduction to nitrite than nitrite to ammonia via nitroxyl and hydroxylamine. The in vitro and in vivo trials have been conducted to clarify the prophylactic effects of L-cysteine, some strains of lactic acid bacteria and yeast and/or ${\beta}$1-4 galactooligosaccharide on nitrate-nitrite intoxication and methanogenesis. The administration of nitrate with ${\beta}$1-4 galacto-oligosaccharide, Candida kefyr, and Lactococcus lactis subsp. lactis were suggested to possibly control rumen methanogenesis and prevent nitrite formation in the rumen. For prebiotics, nisin which is a bacteriocin produced by Lactococcus lactis subsp. lactis has been demonstrated to abate rumen methanogenesis in the same manner as monensin. A protein resistant anti-microbe (PRA) has been isolated from Lactobacillus plantarum as a manipulator to mitigate rumen methanogenesis. Recently, hydrogen peroxide was identified as a part of the manipulating effect of PRA on rumen methanogenesis. The suppressing effects of secondary metabolites from plants such as saponin and tannin on rumen methanogenesis have been examined. Especially, yucca schidigera extract, sarsaponin (steroidal glycosides), can suppress rumen methanogenesis thereby improving protein utilization efficiency. The cashew nutshell liquid (CNSL), or cashew shell oil, which is a natural resin found in the honeycomb structure of the cashew nutshell has been found to mitigate rumen methanogenesis. In an attempt to seek manipulators in the section on methane belching from ruminants, the arrangement of an inventory of mitigation technologies available for the Clean Development Mechanism (CDM) and Joint Implementation (JI) in the Kyoto mechanism has been advancing to target ruminant livestock in Asian and Pacific regions.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.19 no.3
• /
• pp.388-397
• /
• 2009

There are many tasks which require robotic manipulators interaction with environment. It consists of three control problems, i.e., position control, impact control and force control. The position control means the way of reaching to the environment. The moment of touching to the environment yields the impact control problem and the force control is to maintain the desired force trajectory after the impact with the environment. These three control problems occur in sequence, so each control algorithm can be developed independently. Especially for redundant manipulators, each of these three control problems has been important independent research topic. For example, joint torque minimization and impulse minimization are typical techniques for such control problems. The three control problems are considered as a single task in this paper. The position control strategy is developed to improve the performance of the task, i.e., minimization of the individual joint torques and impulse. Therefore, initial conditions of the impact control problem are optimized at the previous position control algorithm. Such a control strategy yields improved result of the impact control. Similarly, the initial conditions for the force control problem are indirectly optimized by the previous position control and impact control strategies. The force control algorithm uses the individual joint torque minimization concept. It also minimizes the force disturbances. The simulation results show the proposed control strategy works well.

• The Transactions of the Korea Information Processing Society
• /
• v.3 no.6
• /
• pp.1397-1406
• /
• 1996

In this paper, we propose a discrete model of conveyor systems, which is frequently used in flexible manufacturing systems to transfer work-in-process( WIP) between manipulators. In the case where the time required for transferring WIP's between manipulators are greater than that of manufacturing itself, as in many flexible assembly lines, the quantitative model of the transfer systems is needed to analyze the behavior and productivity of the whole manufacturing system. The proposed model is based upon the assumptions that the length of any unit conveyor component is integer multiple of the length of a pallet and hat the transferring speed of the conveyor is constant. Under these assumptions, the observation moments and the length of the conveyor can be quantized. Hence, the state of a conveyor can be represented by two kinds of Boolean variables: one representing the presence of a pallet on each quantize conveyor length and the other representing the mobility of this pallet. The whole conveyor system can be modeling as a network composed of branches and knots based on these two Boolean variables. The proposed modelling method was tested with various conveyor system configurations and showed that the model can be adopted successfully for the simulation of transfer systems and of the piloting of manufacturing processes.

• Smart Structures and Systems
• /
• v.9 no.3
• /
• pp.273-286
• /
• 2012

As civil structures are exposed to various external loads, it is essential to assess the structural condition, especially the structural displacement, in every moment. Therefore, a visually servoed paired structured light system was proposed in the previous study. The proposed system is composed of two screens facing with each other, each with a camera, a screen, and one or two lasers controlled by a 2-DOF manipulator. The 6-DOF displacement can be calculated from the positions of three projected laser beams and the rotation angles of the manipulators. In the estimation process, one of well-known iterative methods such as Newton-Raphson or extended Kalman filter (EKF) was used for each measurement. Although the proposed system with the aforementioned algorithms estimates the displacement with high accuracy, it takes relatively long computation time. Therefore, an incremental displacement estimation (IDE) algorithm which updates the previously estimated displacement based on the difference between the previous and the current observed data is newly proposed. To validate the performance of the proposed algorithm, simulations and experiments are performed. The results show that the proposed algorithm significantly reduces the computation time with the same level of accuracy compared to the EKF with multiple iterations.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.12
• /
• pp.1223-1232
• /
• 2004

We present a new technique to the design and real-time implementation of fuzzy control system basedon digital signal processors in order to improve the precision and robustness for system of industrial robot in this paper. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a Fuzzy Logic Controller, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult Self-Organizing Fuzzy Controller is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed Self-Organizing Fuzzy Controller scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.12
• /
• pp.1217-1222
• /
• 2004

This paper describes the development of tele-robotic interface for the hot-line maintenance robot system. One of main issues in designing human-robot interface for the hot-line maintenance robot system is to plan the control procedure for each part of the robotic system. Another issue is that the actual degree of freedom (DOF) in the hot-line maintenance robot system is much greater than that of available control devices such as joysticks and gloves in the remote-cabin. For this purpose, a virtual simulator, which includes the virtual hot-line maintenance robot system and the environment, is developed in the 3D environment using CAD data. It is assumed that the control operation is done in the remote cabin and the overall work process is observed using the main-camera with 2 DOFs. For the input device, two joysticks, one pedal, two data gloves, and a Head Mounted Display (HMD) with tracker sensor were used. The interface is developed for each control mode. Designed human-interface system is operated using high-level control commands which are intuitive and easy to understand without any special training.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.4
• /
• pp.304-309
• /
• 2003

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. The maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system. In order to realize these tasks autonomously, the three dimensional position of target object such as electric line and the stand of insulator must be recognized accurately and rapidly. The approaching of an insulator and the wrenching of a nut task is selected as the typical task of the maintenance of active electric power distribution lines in this paper. Image recognition by multilayer neural network and optimal target position calculation method are newly proposed in order to recognize the center 3 dimensional position of the bolt hole in the stand of insulator. By the proposed image recognition method, it is proved that the center 3 dimensional position of the bolt hole can be recognized rapidly and accurately without regard to the pose of the stand of insulator. Finally the approaching and wrenching task is automatically realized using 6-link electro-hydraulic manipulators.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1115-1120
• /
• 2003

The present paper shows the possible development of particle swarm optimization (PSO) based fuzzy-neural networks (FNN) which can be employed as an important building block in real life robot systems, controlled by voice-based commands. The PSO is employed to train the FNNs which can accurately output the crisp control signals for the robot systems, based on fuzzy linguistic spoken language commands, issued by an user. The FNN is also trained to capture the user spoken directive in the context of the present performance of the robot system. Hidden Markov Model (HMM) based automatic speech recognizers are developed, as part of the entire system, so that the system can identify important user directives from the running utterances. The system is successfully employed in a real life situation for motion control of a redundant manipulator.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.552-557
• /
• 2004

This paper presents a disturbance observer based on an $H_{\infty}$ controller synthesis for the trajectory control of a hydraulic excavator. Compared to conventional robot manipulators driven by electrical motors, the hydraulic excavator has more nonlinear and coupled dynamics. In particular, the interactions between an excavation tool and the materials being excavated are unstructured and complex. In addition, its operating modes depend on working conditions, which make it difficult to not only derive the exact mathematical model but also design a controller systematically. In this study, the approximated linear model obtained through off-line system identification is used as nominal plant model for a disturbance observer. A disturbance observer based tracking controller which considers the effect of disturbance and model uncertainty is synthesized in $H_{\infty}$ frameworks. Simulation results are used to demonstrate the applicability of the proposed control scheme.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.10
• /
• pp.940-948
• /
• 2007

The Advanced Spent Fuel Conditioning Process(ACP), which is the process of the reduction of uranium oxide by lithium metal in a high temperature molten salt bath for spent fuel, was developed at Korea Atomic Energy Research Institute (KAERI). Since the ACP equipment is located in an intense radiation field (hot cell) as well as in a high temperature, it must be remotely operated and maintained. The ACP hot cell is very narrow so the workspace of the wall-mounted mechanical Master-Slave Manipulators(MSMs) is restricted. A Bridge Transported Servo Manipulator(BTSM) system has been developed to overcome the limitation of an access that is a drawback of the mechanical MSMs. The BTSM system consists ot a bridge crane with telescoping tubeset, a slave manipulator, a master manipulator, and a control system. We applied a bilateral position-position control scheme with friction compensation as force-reflecting controller. In this paper, the transmission characteristics on the tendon-and-pulley train is numerically formulated and analyzed. Also, we evaluate the performance of the force-reflecting servo manipulator.