본 연구는 1999년부터 2005년까지 부산경남축산물공판장에서 도축된 비육돈 1,251,572두의 자료를 이용하여 돼지의 주요 도체형질인 도축체중, 등지방두께와 도체등급에 대한 년도별 도체등급 변화 추세와 환경적인 요인을 분석하였다. 도축체중의 경우 암퇘지, 수퇘지 및 거세돼지가 각각 82.97±0.008, 82.00±0.090 및 82.79±0.008㎏으로 조사되었다. 등지방두께는 암퇘지, 수퇘지 및 거세돼지가 각각 19.27±0.006, 15.99±0.072 및 22.49±0.006㎜로 수퇘지가 유의적으로 얇았다. 도축체중의 경우 1999년에 80.38±0.033㎏을 가장 가볍게 나타났고, 2005년에 84.26±0.033㎏으로 가장 무겁게 나타났으며, 연도가 증가함에 따라 도축체중이 증가하는 경향을 보였다. 년도별 도체등급 변화 추세를 보면 A등급 출현율이 2000년부터 2003년까지는 계속 증가하다가 2003년 이후로 점차 감소하는 경향을 나타냈다.

Foot mechanisms play the role of interface between the main body of robotic systems and the ground. Biomimetic design of the foot mechanism is proposed in the paper. Specifically, multi-chained and multiple contact characteristics of general foot mechanisms are analyzed and their advantages are highlighted in terms of impulse. Using Newton-Euler based closed-form external and internal impulse models, characteristics of multiple contact cases are investigated through landing simulation of an articulated leg model with three kinds of foot. It is shown that in comparison to single chain and less articulated linkage system, multi-chain and articulated linkage system has superior characteristic in terms of impulse absorption as well as stability after collision. The effectiveness of the simulation result is verified through comparison to the simulation result of a commercialized software.

Most lamp units at ceilings, walls, and streets are static and no automatic motion capabilities are available at all to adjust lamp tilting angles and its zooming position. This paper proposes a new robotic lamp that creates three degrees of freedom (DOF) motion by using a spherical-type parallel mechanism with a unique forward kinematic position. In the robotic lamp, three motors are placed at the base frame to control two tilting angles and one zoom in-and-out motion for a localized light. The kinematic model of this device is derived and the proto type has been developed. The performance of this device was verified through experiment.