• Title/Summary/Keyword: teat

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

  • Kwon, D.J.;Kim, W.;Lee, D.W.
    • Journal of Animal Environmental Science
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    • v.8 no.3
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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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3D Image Processing System for an Robotic Milking System (로봇 착유기를 위한 3차원 위치정보획득 시스템)

  • Kim, W.;Kwon, D.J.;Seo, K.W.;Lee, D.W.
    • Journal of Animal Environmental Science
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    • v.8 no.3
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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.

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The Possibility of TBC1D21 as a Candidate Gene for Teat Numbers in Pigs

  • Jin, S.;Lee, J.B.;Kang, K.;Yoo, C.K.;Kim, B.M.;Park, H.B.;Lim, H.T.;Cho, I.C.;Maharani, D.;Lee, J.H.
    • Asian-Australasian Journal of Animal Sciences
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    • v.26 no.10
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    • pp.1374-1378
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    • 2013
  • Based on a quantitative traits locus (QTL) study using a $F_2$ intercross between Landrace and Korean native pigs, a significant QTL affecting teat numbers in SSC7 was identified. The strong positional candidate gene, TBC1D21, was selected due to its biological function for epithelial mesenchymal cell development. Sequence analysis revealed six single nucleotide polymorphisms (SNPs) in the TBC1D21 gene. Among these, two SNP markers, one silent mutation (SNP01) for g.13,050A>G and one missense mutation (SNP04) for c.829A>T (S277C), were genotyped and they showed significant associations with teat number traits (p value = 6.38E-05 for SNP01 and p value = 1.06E-07 for SNP04 with total teat numbers). Further functional validation of these SNPs could give valuable information for understanding the teat number variation in pigs.

Development of a Robotic Milking Cluster System (착유 자동화를 위한 로봇 착탈 시스템)

  • 이대원;최동윤;김현태;이원희;권두중;이승기;한정대
    • Journal of Animal Environmental Science
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    • v.6 no.2
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    • pp.113-119
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    • 2000
  • A Robotic milking cluster system with the manipulator for an automatic milking system was designed and built for farmer to work easily and comfortably during milking processing. The cluster system was composed of screws, cams and links for power transmission, DC motors, the Quick Basic one-chip microprocessor, the vision system for image processing, and tea-cups. Software, written in Visual C+ and Quick Basic, combined the function of image capture, image processing, milking cluster control, and control into one control. The unit was made to transfer from four fixed points to four teats with four teat-cups. Performance tests of the cluster unit, the fully integrated system, were conducted to attach and detach the teat-cup on the teat of a artificial cow. The transfer programming provided for a teat-cup milking loop during the system starts and comes back the original fixed point at the manipulator of it for milking. It transferred the teat-cup with a success rate of more than 70%. The average time it took ot perform the milking loop was about 20 seconds.

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Study on the Anatomy and Histology of Bovine Teat and Leaking Teat Surgery (유두(乳頭)의 해부(解剖) 및 조직학적(組織學的) 관찰(觀察)과 Leaking teat의 수술적(手術的) 교정법(矯正法)에 관(關)하여)

  • Jang, In Ho;Cheong, Chang Kook
    • Korean Journal of Veterinary Research
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    • v.3 no.1
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    • pp.1-9
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    • 1963
  • 1. Anatomical and histological study on the bovine teat have been described. 2. Two different types of suture methods were applied to the artificial leaking teats experimentally produced in laboratory and the accuracy between the two methods have been compared. 3. The instruments, anesthesia, restraint of animal and surgical technic used in the surgical correction of leaking teats in writers hand have been described. 4. Of the eleven cases of leaking teats operated in the field, seven cases healed perfectly and the rest of cases failed to heal due to the faulty postoperative care in owner's hands and or writer's surgical error.

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Design of Driving Control Unit and Milking Robot Manipulator (착유로봇 매니퓰레이터와 구동제어장치 설계)

  • Shin, Kyoo Jae
    • Journal of the Institute of Electronics and Information Engineers
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    • v.51 no.9
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    • pp.238-247
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    • 2014
  • The milking robot system is very important to detect correctly the teats position in the moving condition of cow. Also, the robot manipulator must control tracking the teat cup to the detected teat position. The presented milking robot is designed using the one point laser sensor for teat position detection. The teats of cow are detected by the laser scanning unit and the manipulator has the function of 3 axes moving control unit. The presented teat detection method and the electrical driving manipulator have the advantages of a simple, low cost and very quiet. The designed manipulator is realized by the totally electrical motor and servo poison control algorithm with velocity PID compensation. The presented robot is realized using the teat detection unit, 4 teat cups, 3 axes robot arm, 6 servo motors and automatic milking control line. The designed robot is experimented in the cow farm and is satisfied with the designed performance specification for milking robot manipulator.

Association of Novel Polymorphisms in Lymphoid Enhancer Binding Factor 1 (LEF-1) Gene with Number of Teats in Different Breeds of Pig

  • Xu, Ru-Xiang;Wei, Ning;Wang, Yu;Wang, Guo-Qiang;Yang, Gong-She;Pang, Wei-Jun
    • Asian-Australasian Journal of Animal Sciences
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    • v.27 no.9
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    • pp.1254-1262
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    • 2014
  • Lymphoid enhancer binding factor 1 (LEF-1) is a member of the T-cell specific factor (TCF) family, which plays a key role in the development of breast endothelial cells. Moreover, LEF-1 gene has been identified as a candidate gene for teat number trait. In the present study, we detected two novel mutations (NC_010450.3:g. 99514A>G, 119846C>T) by DNA sequencing and polymerase chain reaction-restriction fragment length polymorphism in exon 4 and intron 9 of LEF-1 in Guanzhong Black, Hanjiang Black, Bamei and Large White pigs. Furthermore, we analyzed the association between the genetic variations with teat number trait in these breeds. The 99514A>G mutation showed an extremely significant statistical relevance between different genotypes and teat number trait in Guanzhong (p<0.001) and Large White (p = 0.002), and significant relevance in Hanjiang (p = 0.017); the 119846C>T mutation suggested significant association in Guanzhong Black pigs (p = 0.042) and Large White pigs (p = 0.003). The individuals with "AG" or "GG" genotype displayed more teat numbers than those with "AA"; the individuals with "TC" or "CC" genotype showed more teat numbers than those with "TT". Our findings suggested that the 99514A>G and 119846C>T mutations of LEF-1 affected porcine teat number trait and could be used in breeding strategies to accelerate porcine teat number trait improvement of indigenous pigs breeds through molecular marker assisted selection.

Post Milking Teat Dip Effect on Somatic Cell Count, Milk Production and Composition in Cows and Buffaloes

  • Shailja, Shailja;Singh, Mahendra
    • Asian-Australasian Journal of Animal Sciences
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    • v.15 no.10
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    • pp.1517-1522
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    • 2002
  • The effect of post milking teat dipping on somatic cell count (SCC) of milk was determined in 20 Crossbred cows and 20 Murrah buffaloes selected from institute's herd. The animals were divided into two groups of 10 each. Animals of Group I (control) were teat washed with water before the milking while Group II animals were applied teat dipping solution after the completion of milking. The cows were milked 3 times a day while buffaloes were milked twice a day. The milk samples were collected from control and treated animals on day 0, 5, 10, 15, respectively. The milk samples were analyzed for milk constituents like fat, protein, lactose, chloride, IgG, NEFA, pH and EC and total and differential somatic cell counts. The changes in milk composition and somatic cell counts were significantly different (p<0.01) between the animals and between the breeds. However SCC, chloride content (p<0.05) and epithelial cells (p<0.01) varied during different days of study. The alterations in SCC, epithelial cells, TLC, lymphocyte, neutrophil, IgG, and protein content were significantly different (p<0.01) between control and treated groups. The pH, EC, protein, SCC, epithelial cells, lymphocyte and neutrophil cells of milk declined significantly (p<0.05) after the application of teat dipping, the respective values were 6.5 vs 6.40, 2.28 vs 2.37 mhos, 3.33 vs 4.04%, 1.00 vs $0.87{\times}10^5cells/ml$, 0.39 vs 0$0.34{\times}10^5cells/ml$, 0.36 vs $0.31{\times}1,000cells/ml$ and 0.17 vs $0.14{\times}1,000cells/ml$ in cows. However in buffaloes, epithelial cells, lymphocytes, neutrophils, EC and SCC declined (p<0.05) after application of teat dipping, the values being 0.37 vs $0.29{\times}10^5cells/ml$, 0.37 vs $0.25{\times}1,000cells/ml$, 0.14 vs $0.11{\times}1,000cells/ml$, 2.56 vs 2.37 mhos and 0.94 vs $0.73{\times}10^5cells/ml$, respectively. The study indicated that post milking teat dipping could be used as an effective method for the lowering of SCC in milk of crossbred cows and buffaloes.

Estimation of Genetic Parameters for Direct and Maternal Effects on Litter Size and Teat Numbers in Korean Seedstock Swine Population

  • Song, Guy-Bong;Lee, Jun-Ho;Lee, Deuk-Hwan
    • Journal of Animal Science and Technology
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    • v.52 no.3
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    • pp.187-190
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    • 2010
  • The objective of this study was to estimate genetic parameters for total number of born (TNB), number of born alive (NBA) and teat numbers (TN) of Landrace and Yorkshire breeds in Korean swine population using multiple trait animal model procedures. Total numbers of 4,653 records for teat numbers and 8,907 records for TNB and NBA collected from 2004 to 2008 on imported breeding pigs and their litter size records were used in this study. To find the appropriate model for estimation of genetic parameters (heritabilities and genetic correlations), five statistical models (two models for reproductive traits, two models for teat numbers, one model for combining these traits) considering only direct additive genetic effects, including maternal effects were used and Akaike information criteria (AIC) of each two models for reproductive traits and teat trait were compared. The means and standard deviations of TNB, NBA, and TN were $11.52{\pm}3.34$, $10.55{\pm}2.96$ and $14.30{\pm}0.83$, respectively. Estimated heritabilities for TNB and NBA traits using the model which considered only additive genetic effect were low (0.06 and 0.05, respectively). However, estimated heritabilities considering maternal genetic effects were a little bit higher than that of the model considering only additive genetic effect (0.09 for TNB and NBA, respectively). Estimated heritability for TN using the model which considered only additive genetic effect was 0.40. However, estimated heritability of direct genetic effects from a model considering maternal genetic effect was high (0.60). All results of AIC statistics, the models considering maternal effect was more appropriate than the models considering only additive genetic effect. Genetic correlations of direct additive genetic effect between litter size (TNB, NBA) and teat numbers were low (-0.18 and -0.14, respectively). However, genetic correlations of maternal effect between litter size (TNB, NBA) and teat numbers were a little bit higher than those of direct additive genetic effect (0.08 and 0.16, respectively).

Identification of loci affecting teat number by genome-wide association studies on three pig populations

  • Tang, Jianhong;Zhang, Zhiyan;Yang, Bin;Guo, Yuanmei;Ai, Huashui;Long, Yi;Su, Ying;Cui, Leilei;Zhou, Liyu;Wang, Xiaopeng;Zhang, Hui;Wang, Chengbin;Ren, Jun;Huang, Lusheng;Ding, Nengshui
    • Asian-Australasian Journal of Animal Sciences
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    • v.30 no.1
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    • pp.1-7
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    • 2017
  • Objective: Three genome-wide association studies (GWAS) and a meta-analysis of GWAS were conducted to explore the genetic mechanisms underlying variation in pig teat number. Methods: We performed three GWAS and a meta-analysis for teat number on three pig populations, including a White Duroc${\times}$Erhualian $F_2$ resource population (n = 1,743), a Chinese Erhualian pig population (n = 320) and a Chinese Sutai pig population (n = 383). Results: We detected 24 single nucleotide polymorphisms (SNPs) that surpassed the genome-wide significant level on Sus Scrofa chromosomes (SSC) 1, 7, and 12 in the $F_2$ resource population, corresponding to four loci for pig teat number. We highlighted vertnin (VRTN) and lysine demethylase 6B (KDM6B) as two interesting candidate genes at the loci on SSC7 and SSC12. No significant associated SNPs were identified in the meta-analysis of GWAS. Conclusion: The results verified the complex genetic architecture of pig teat number. The causative variants for teat number may be different in the three populations