novel approaches to expression and detection of oestrus in dairy cows
novel approaches to expression and detection of oestrus in dairy cows
novel approaches to expression and detection of oestrus in dairy cows
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mount<strong>in</strong>g cow. For example height changes could be determ<strong>in</strong>ed close <strong>to</strong><br />
the robotic milker (as mount<strong>in</strong>g cannot occur <strong>in</strong> the robot).<br />
a<br />
b<br />
c<br />
Figure 4.13 K<strong>in</strong>ematic tests <strong>to</strong> determ<strong>in</strong>e<br />
height accuracy <strong>of</strong> BU geometry <strong>in</strong> areas <strong>of</strong><br />
good <strong>and</strong> poor signal quality accord<strong>in</strong>g <strong>to</strong><br />
HVDOP (Figure 4.9) a) k<strong>in</strong>ematic test <strong>in</strong><br />
central position <strong>of</strong> good signal quality,<br />
<strong>in</strong>volv<strong>in</strong>g changes <strong>in</strong> height, b) k<strong>in</strong>ematic<br />
test <strong>in</strong> area <strong>of</strong> poor signal quality <strong>in</strong> far<br />
corner <strong>of</strong> location <strong>and</strong> c) k<strong>in</strong>ematic test<br />
close <strong>to</strong> the robotic milker, an area <strong>of</strong><br />
suspected high multipath <strong>and</strong> poor signal<br />
quality as identified by HVDOP<br />
These results concluded that the 8 BU network provided accurate results <strong>of</strong><br />
MU position, with reduced spik<strong>in</strong>g <strong>and</strong> error due <strong>to</strong> the best possible<br />
geometry <strong>of</strong> BU network. In summary, this work led <strong>to</strong> the validation <strong>of</strong><br />
UWB accuracy <strong>in</strong> good <strong>and</strong> poor positions with<strong>in</strong> the cow barn. The next<br />
step was <strong>to</strong> moni<strong>to</strong>r <strong>cows</strong>’ behaviour <strong>to</strong> accurately determ<strong>in</strong>e their position<br />
at a given time.<br />
4.3.2 Short Cow Tests<br />
The purpose <strong>of</strong> the short tests was <strong>to</strong> moni<strong>to</strong>r multiple <strong>cows</strong>’ behaviour <strong>and</strong><br />
achieve the best possible set up <strong>of</strong> the equipment. In a series <strong>of</strong> 3 half day<br />
tests 4 <strong>to</strong> 6 <strong>cows</strong> were moni<strong>to</strong>red on each occasion with each cow wear<strong>in</strong>g<br />
backpacks (see Figure 4.4) with an MU attached <strong>to</strong> a battery (see Figure<br />
4.3). Cows were selected for use <strong>in</strong> the trial <strong>and</strong> removed from their<br />
location <strong>in</strong> the cow barn <strong>to</strong> the management/ AI stalls where the <strong>cows</strong> were<br />
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