No abstract

ABSTRACT:With the recent development of information technology (IT), automation is being introduced in the construction sites as well as in plants. This study was conducted to address autonomous driving in the outside environment as part of the construction automation task in the advanced fusion construction research project of the Ministry of Land, Transport, and Maritime Affairs. The DGPS and IMU sensor were used to acquire the position and posture information of the excavator in the outside environment, and the information was used to create and follow diverse movement trajectories and to ensure smooth autonomous excavation. For autonomous driving, a vehicle-type control device, which was named remote control station (RCS), and an excavator attribute-sensing module, which was mounted on the excavator, were developed. The excavator attribute-sensing module was mounted on the electrohydraulic excavator, which allowed the wireless communication of the excavator state between the excavator and the mobile control station and autonomous driving. The path-tracking and posture control algorithm for the excavator that had no additional steering system for the outside environment, which was proposed in this study, significantly differs from that of the conventional and general mobile platform in the inside/outside environment. The precision and reliability of the proposed autonomous control algorithm was verified via diverse tests in the actual environment.

This study was conducted to investigate the effects of the addition of cordyceps ochraceostromat, conjugated linoleic acid (CLA) and silkworm cocoon on the quality and storage characteristics of pork sausage manufactured by MDCM (mechanically deboned chicken meat) recovered protein. The samples were divided into 5 groups (sausage made from pork ham; control, 40% of MDCM recovered protein to replace pork ham; T1, 40% of MDCM recovered protein to replace pork ham with 0.1% cordyceps ochraceostromat; T2, 40% of MDCM recovered protein to replace pork ham with 0.1% CLA; T3, and 40% of MDCM recovered protein to replace pork ham with 0.1% silkworm cocoon; T4). The control sample had a higher moisture and protein contents and lower fat content than the other samples during 4 weeks of storage at 4 o C. The treatment samples had lower lightness and higher redness values than the control (p<0.05). Hardness, cohesiveness, gumminess and chewiness were significantly lower in the treatment samples than the control (p<0.05). All sausage samples showed a significant increase in thiobarbituric acid reactive substances (TBARS), volatile basic nitrogen, and total plate counts during the storage time (p<0.05). In addition, the MDCM treatment samples had higher TBARS values than the control, but the VBN value of the treatment samples was lower than the control after the 4 weeks storage period.