Automatic Lameness Detection in a Milking Robot : Instrumentation, measurement software, algorithms for data analysis and a neural network model

The aim of this thesis is to develop a fully automatic lameness detection system that operates in a milking robot. The instrumentation, measurement software, algorithms for data analysis and a neural network model for lameness detection were developed. Automatic milking has become a common practice in dairy husbandry, and in the year 2006 about 4000 farms worldwide used over 6000 milking robots. There is a worldwide movement with the objective of fully automating every process from feeding to milking. Increase in automation is a consequence of increasing farm sizes, the demand for more efficient production and the growth of labour costs. As the level of automation increases, the time that the cattle keeper uses for monitoring animals often decreases. This has created a need for systems for automatically monitoring the health of farm animals. The popularity of milking robots also offers a new and unique possibility to monitor animals in a single confined space up to four times daily. Lameness is a crucial welfare issue in the modern dairy industry. Limb disorders cause serious welfare, health and economic problems especially in loose housing of cattle. Lameness causes losses in milk production and leads to early culling of animals. These costs could be reduced with early identification and treatment. At present, only a few methods for automatically detecting lameness have been developed, and the most common methods used for lameness detection and assessment are various visual locomotion scoring systems. The problem with locomotion scoring is that it needs experience to be conducted properly, it is labour intensive as an on-farm method and the results are subjective. A four balance system for measuring the leg load distribution of dairy cows during milking in order to detect lameness was developed and set up in the University of Helsinki Research farm Suitia. The leg weights of 73 cows were successfully recorded during almost 10,000 robotic milkings over a period of 5 months. The cows were locomotion scored weekly, and the lame cows were inspected clinically for hoof lesions. Unsuccessful measurements, caused by cows standing outside the balances, were removed from the data with a special algorithm, and the mean leg loads and the number of kicks during milking was calculated. In order to develop an expert system to automatically detect lameness cases, a model was needed. A probabilistic neural network (PNN) classifier model was chosen for the task. The data was divided in two parts and 5,074 measurements from 37 cows were used to train the model. The operation of the model was evaluated for its ability to detect lameness in the validating dataset, which had 4,868 measurements from 36 cows. The model was able to classify 96% of the measurements correctly as sound or lame cows, and 100% of the lameness cases in the validation data were identified. The number of measurements causing false alarms was 1.1%. The developed model has the potential to be used for on-farm decision support and can be used in a real-time lameness monitoring system.

Feasibility of assimilating ASCAT surface winds into a Limited Area Model

Sea-surface wind observations of previous generation scatterometers have been successfully assimilated into Numerical Weather Prediction (NWP) models. Impact studies conducted with these assimilation implementations have shown a distinct improvement to model analysis and forecast accuracies. The Advanced Scatterometer (ASCAT), flown on Metop-A, offers an improved sea-surface wind accuracy and better data coverage when compared to the previous generation scatterometers. Five individual case studies are carried out. The effect of including ASCAT data into High Resolution Limited Area Model (HIRLAM) assimilation system (4D-Var) is tested to be neutral-positive for situations with general flow direction from the Atlantic Ocean. For northerly flow regimes the effect is negative. This is later discussed to be caused by problems involving modeling northern flows, and also due to the lack of a suitable verification method. Suggestions and an example of an improved verification method is presented later on. A closer examination of a polar low evolution is also shown. It is found that the ASCAT assimilation scheme improves forecast of the initial evolution of the polar low, but the model advects the strong low pressure centre too fast eastward. Finally, the flaws of the implementation are found small and implementing the ASCAT assimilation scheme into the operational HIRLAM suite is feasible, but longer time period validation is still required.

Studies on orographic effects in a numerical weather prediction model

Numerical models, used for atmospheric research, weather prediction and climate simulation, describe the state of the atmosphere over the heterogeneous surface of the Earth. Several fundamental properties of atmospheric models depend on orography, i.e. on the average elevation of land over a model area. The higher is the models' resolution, the more the details of orography directly influence the simulated atmospheric processes. This sets new requirements for the accuracy of the model formulations with respect to the spatially varying orography. Orography is always averaged, representing the surface elevation within the horizontal resolution of the model. In order to remove the smallest scales and steepest slopes, the continuous spectrum of orography is normally filtered (truncated) even more, typically beyond a few gridlengths of the model. This means, that in the numerical weather prediction (NWP) models, there will always be subgridscale orography effects, which cannot be explicitly resolved by numerical integration of the basic equations, but require parametrization. In the subgrid-scale, different physical processes contribute in different scales. The parametrized processes interact with the resolved-scale processes and with each other. This study contributes to building of a consistent, scale-dependent system of orography-related parametrizations for the High Resolution Limited Area Model (HIRLAM). The system comprises schemes for handling the effects of mesoscale (MSO) and small-scale (SSO) orographic effects on the simulated flow and a scheme of orographic effects on the surface-level radiation fluxes. Representation of orography, scale-dependencies of the simulated processes and interactions between the parametrized and resolved processes are discussed. From the high-resolution digital elevation data, orographic parameters are derived for both momentum and radiation flux parametrizations. Tools for diagnostics and validation are developed and presented. The parametrization schemes applied, developed and validated in this study, are currently being implemented into the reference version of HIRLAM.