Robotic milking: a review

Robotica ◽  
1990 ◽  
Vol 8 (4) ◽  
pp. 311-318 ◽  
Author(s):  
A.R. Frost
Keyword(s):  
Robotic Systems ◽  
Robotic Milking ◽  
Morphological Differences ◽  
Milking Machine

SUMMARYAttaching the milking machine to the cow is the last remaining major repetitive task that the worker in a modern milking parlour has to perform. Several groups of research workers are developing robotic systems for this purpose. The task for the robot of locating the cow's teats and attaching the machine is complicated by morphological differences between cows and the need to allow the cow freedom to move during the operation. This paper reviews the progress that has been made.

METHOD FOR EVALUATING INDIVIDUAL CHARACTERISTICS OF MILK EJECTION OF COWS WHEN USING DIFFERENT MILKING TECHNOLOGIES

2021 ◽  
pp. 66-78
Author(s):  
V.P. MESHCHERYAKOV ◽  
◽  
YU.G. IVANOV ◽  
T.N. PIMKINA ◽  
E.V. ERMOSHINA
Keyword(s):  
Latent Period ◽  
Average Duration ◽  
Individual Characteristics ◽  
Maximum Intensity ◽  
Milk Ejection ◽  
Short Period ◽  
Robotic Milking ◽  
Automatic Milking Systems ◽  
Milking Machine ◽  
The Individual

The aim of the research is to study the possibility of using a latent period of the ejection of the first portion of milk in order to evaluate the individual characteristics of the milk ejection features of cows using the technology of bucket milking and robotic milking. Two experiments were conducted on cows of Black-Motley breed. Under the first experiment, the individual characteristics of the milk ejection were shown using the technology of bucket milking. Under the second experiment, they were determined for the technology of robotic milking. The first experiment was conducted on 12 mature cows. They were milked with a serial milking machine. The process of lactation was recorded by means of a bucket counter. The parameters of milk ejection were defined by analyzing the curve of lactation and making calculations. The second experiment was conducted on 30 first-calf heifers. Cows were milked on robotic installation the Astronaut A4 of Lely Company (the Netherlands). The data of the information system of herd management Lely T4C have been used for the analysis. Depending on the indicator of a latent period of the first milk portion ejection in both experiments three groups of cows (I–III) have been isolated. The ability of milk ejection in the first group was identified as high, in the second group – average and in the third group – low. Both experiments showed that the value of a latent period of the first milk portion ejection determined the milk ejection ability of cows. The increase in the period of the first milk portion ejection has been found among cows as their milk ejection ability decreses. The currently used milking technology shows that the reduced milk ejection among cows leads to the decrease in the indicators of the average and maximum intensity of milk ejection, the first two minutes of milking and also it leads to longer duration of milking. Using the robotic milking, the authors found that the first-calf heifers with the short period of the first milk portion ejection are characterized by the shortest duration of treating the teats and staying in the milking parlor, the average duration of milk ejection from the each quarter of the udder, as well as high values of the average and maximum intensity of milk ejection. The first-calf heifers with slow milking capacity are characterized by the longest duration of treating the teats and staying in the milking parlor, the average duration of milk ejection from the each quarter of the udder, as well as the lowest values of the average and maximum intensity of milk ejection. This suggests that the selection of first-calf heifers with high milk ejection ability will help to increase the productivity of automatic milking systems during the milking process. It is proposed to use the value of a latent period of the first milk portion ejection in the breeding activities.

Labor satisfaction research in the conditions of digital transformation (robotization) of agriculture

2021 ◽  
pp. 33-39
Author(s):  
Alexander N. Semin ◽  
◽  
Egor A. Skvortsov ◽  
Ekaterina G. Skvortsova ◽  
◽  
...  
Keyword(s):  
Job Satisfaction ◽  
Agricultural Production ◽  
Digital Transformation ◽  
Work Schedule ◽  
Work Safety ◽  
Main Hypothesis ◽  
Machine Operators ◽  
Robotic Milking ◽  
Milking Machine ◽  
Hygienic Conditions

The article examines the problems of job satisfaction of agricultural workers in the context of digital transformation, in particular, the introduction of robotics into production. The main hypothesis of the study is that the use of robotics in agriculture will increase the job satisfaction of workers interacting with robots. The results of a questionnaire survey of job satisfaction of operators of machine and robotic milking are presented. The respondents were most satisfied with the operation of the equipment (8.7 points), the work schedule (8.1 points), the level of supply of consumables (7.8 points). The smallest value of job satisfaction was found in terms of sanitary and hygienic conditions – 6.21 points. Robotic milking operators are more satisfied with the work schedule and work safety than their counterparts on farms without robots. Overall satisfaction with the work of milking machine operators is 6.9 points, and for robotic milking operators – 8.07 points, which is 1.17 points higher. Specific recommendations are given on the use of robotics in agricultural production, which can significantly increase the indicators of job satisfaction.

Analysis of different options of use of milking robots in dairy livestock

2021 ◽  
pp. 33-37
Author(s):  
V.F. Fedorenko ◽  
◽  
V.V. Kirsanov ◽  
N.P. Mishurov ◽  
◽  
...  
Keyword(s):  
Dairy Farming ◽  
Robotic Systems ◽  
Small Farms ◽  
Box Models ◽  
Robotic Milking ◽  
The Cost

It has been established that currently there are about 700 milking robots in dairy farming in Russia, with a predominance of mono-box models. In flowconveyor robotic milking, it is possible to significantly reduce the number of automatic handlers and reduce the cost of a set of equipment due to the separate performing process steps for connecting the teatcups and the milking process itself compared to mono-boxes (one robot – one cow). It is noted that the latter are more expedient to use on small farms counting for up to 200-250 heads. For those farms that have 400 cows and more, it is more rational to build Yolochka milking parlors equipped with quarter-milking handlers and serviced by operators, which can then be robotized while keeping the milking trench for training animals in robotic milking. For those farms that have 800 heads and more, it is advisable to use automated rotating milking parlors, also along with their gradual transfer to robotic systems.

A scanning electron microscopic study of the eggs of Culicoides variipennis (Diptera: Ceratopogonidae)

1987 ◽  
Vol 45 ◽  
pp. 884-885 ◽  
Author(s):  
R. A. Nunamaker ◽  
C. E. Nunamaker ◽  
B. C. Wick
Keyword(s):  
Distinct Species ◽  
Hemorrhagic Disease ◽  
Insect Vector ◽  
Electron Microscopic ◽  
Important Species ◽  
Scanning Electron Microscopic Study ◽  
Laboratory Colony ◽  
Culicoides Variipennis ◽  
Morphological Differences ◽  
Scanning Electron

Culicoides variipennis (Coquillett) is probably the most economically important species of biting midge in the U.S. due to its involvement in the transmission of bluetongue (BT) disease of sheep, cattle and ruminant wildlife, and epizootic hemorrhagic disease (EHD) of deer. Proposals have been made to recognize the eastern and western populations of this insect vector as distinct species. Others recommend use of the term “variipennis complex” until such time that the necessary biosystematic studies have been made to determine the genetic nature and/or minute morphological differences within the population structure over the entire geographic range of the species. Increasingly, students of ootaxonomy are relying on scanning electron microscopy (SEM) to assess chorionic features. This study was undertaken to provide comparative chorionic data for the C. variipennis complex.Culicoides variipennis eggs were collected from a laboratory colony maintained in Laramie, Wyoming.

Morphologic differences between abdominal and inguinal testes in stallions

1987 ◽  
Vol 45 ◽  
pp. 820-821
Author(s):  
F. Al-Bagdadi ◽  
D. Hoyt ◽  
P. Karns ◽  
G. Martin ◽  
M. Memon ◽  
...  
Keyword(s):  
Carcinoma Cells ◽  
Genital System ◽  
Diagnosis And Prognosis ◽  
Male Genital System ◽  
Morphological Differences ◽  
Hormone Imbalance ◽  
Made In ◽  
Male Genital

The most frequently occuring abnormality of the male genital system in mammals is the failure of one or both testes to descend into the scrotum. The reasons for abdominal or inguinal retention of testes could be anatomic malformation, faulty development or hormone imbalance.Cryptorchidism has been associated with either greatly reduced or absent spermatogenesis (Kaueakami et al, 1984), and being a source of neoplasia. According to Stick (1980), germinal carcinoma cells have been believed to be the cause of teratomas in equine cryptorchid testicles. Neoplasia has been reported in descended testes of unilateral cryptorchid patients (Martin et al, 1981).No distinction has been made in relating the problem of cryptorchid testes to inguinal or abdominal retention. The purpose of this study is to record the morphological differences between inguinal and abdominal cryptorchid testes as an aid in diagnosis and prognosis.

Observation of pseudo 10-fold symmetry in the ordered iron-zinc delta phase

1992 ◽  
Vol 50 (1) ◽  
pp. 36-37
Author(s):  
L. A. Giannuzzi ◽  
A. S. Ramani ◽  
P. R. Howell ◽  
H. W. Pickering ◽  
W. R. Bitler
Keyword(s):  
Single Phase ◽  
X Ray Diffraction ◽  
Rich Region ◽  
Average Cell ◽  
X Ray ◽  
Delta Phase ◽  
Cell Dimensions ◽  
Δ Phase ◽  
Morphological Differences ◽  
Concentration Discontinuity

The δ phase is a Zn-rich intermetallic, having a composition range of ∼ 86.5 - 92.0 atomic percent Zn, and is stable up to 665°C. The stoichiometry of the δ phase has been reported as FeZn7 and FeZn10 The deviation in stoichiometry can be attributed to variations in alloy composition used by each investigator. The structure of the δ phase, as determined by powder x-ray diffraction, is hexagonal (P63mc or P63/mmc) with cell dimensions a = 1.28 nm, c = 5.76 nm, and 555±8 atoms per unit cell. Later work suggested that the layer produced by hot-dip galvanizing should be considered as two distinct phases which are characterized by their morphological differences, namely: the iron-rich region with a compact appearance (δk) and the zinc-rich region with a columnar or palisade microstructure (δp). The sub-division of the δ phase was also based on differences in diffusion behavior, and a concentration discontinuity across the δp/δk boundary. However, work utilizing Weisenberg photographs on δ single crystals reported that the variation in lattice parameters with composition was small and hence, structurally, the δk phase and the δp phase were the same and should be thought of as a single phase, δ. Bastin et al. determined the average cell dimensions to be a = 1.28 nm and c = 5.71 nm, and suggested that perhaps some kind of ordering process, which would not be observed by x-ray diffraction, may be responsible for the morphological differences within the δ phase.

Gender determination of caucasoid hair using image analysis

1993 ◽  
Vol 51 ◽  
pp. 216-217
Author(s):  
T.B. Ball ◽  
W.M. Hess
Keyword(s):  
Image Analysis ◽  
Cross Sections ◽  
Scalp Hair ◽  
The Body ◽  
Equivalent Diameter ◽  
Cross Sectional ◽  
Hair Samples ◽  
Length Width ◽  
Morphological Differences

It has been demonstrated that cross sections of bundles of hair can be effectively studied using image analysis. These studies can help to elucidate morphological differences of hair from one region of the body to another. The purpose of the present investigation was to use image analysis to determine whether morphological differences could be demonstrated between male and female human Caucasian terminal scalp hair.Hair samples were taken from the back of the head from 18 caucasoid males and 13 caucasoid females (Figs. 1-2). Bundles of 50 hairs were processed for cross-sectional examination and then analyzed using Prism Image Analysis software on a Macintosh llci computer. Twenty morphological parameters of size and shape were evaluated for each hair cross-section. The size parameters evaluated were area, convex area, perimeter, convex perimeter, length, breadth, fiber length, width, equivalent diameter, and inscribed radius. The shape parameters considered were formfactor, roundness, convexity, solidity, compactness, aspect ratio, elongation, curl, and fractal dimension.

Morphological differences in individuals with lip competence and incompetence based on electromyographic diagnosis

2000 ◽  
Vol 27 (10) ◽  
pp. 893-901 ◽  
Author(s):  
K. Yamaguchi ◽  
Y. Morimoto ◽  
R. S. Nanda ◽  
J. Ghosh ◽  
K. Tanne
Keyword(s):  
Morphological Differences

Haemostatic Clot Formation at Anastomosis of Synthetic Venous Graft in Defibrinogenated Dogs: A Scanning Electron Microscopic Study

1981 ◽  
Vol 45 (03) ◽  
pp. 276-281 ◽  
Author(s):  
S Ishimaru ◽  
E Berglin ◽  
H-A Hansson ◽  
A-C Teger-Nilsson ◽  
G William-Olsson
Keyword(s):  
Vena Cava ◽  
Treated Group ◽  
Control Group ◽  
Electron Microscopic ◽  
Scanning Electron Microscopic Study ◽  
Fibrin Network ◽  
Scanning Electron Microscopic ◽  
Expanded Polytetrafluoroethylene Graft ◽  
Morphological Differences ◽  
Scanning Electron

SummaryA segment of the inferior vena cava was replaced by an expanded polytetrafluoroethylene graft in 13 dogs. Five of them served as a control group, while the other 8 were moderately or severely defibrinogenated with subcutaneous batroxobin. Plasma fibrinogen decreased to extremely low values throughout the experiment in the defibrinogenated dogs except in the moderately treated group in which it temporarily rose to 0.72-0.87 g/1 on the first postoperative day.Scanning electron microscopic observations of the haemostatic clot formed at the anastomoses of the graft revealed no significant morphological differences in platelet adhesion and/or aggregation between the three groups. These findings confirmed that platelets play a key role in primary haemostasis during defibrinogenation.The fibrin network was slightly diminished and only short fibrin filaments could be seen in the moderately and severely defibrinogenated groups respectively. These differences in composition of the clots are discussed in relation to their haemostatic capacity.

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