Measurement of cow comfort during milking on different cluster removal settings through the use of leg-mounted accelerometers

Increasing levels of data are routinely collected on modern dairy farms. These include multiple variables measured by milking machine sensors and software and cow attached sensor data, used predominantly for fertility and health monitoring. Following milking efficiency principles, including milking gently, quickly and completely, there is utility in investigating how various milking machine settings impact on gentleness of milking through a proxy measurement of cow comfort during milking. The use of leg-mounted accelerometers was investigated as a non-invasive labor efficient means of estimating cow comfort on different automatic cluster remover (ACR) milk flow-rate switch-point settings. Accelerometer step count measurements during milking were collected from 37 cows divided into 2 groups allocated to either an ACR milk flow-rate switch-point setting of 0.2 kg/min or 0.8 kg/min for a 2-week period and then crossed-over to the other setting. Significantly more rear leg stepping occurred during daily milking (combined step count during AM and PM milkings) where the ACR activated at 0.2 kg/min (11.7 steps) compared with 0.8 kg/min (10.1 steps). Shorter milking interval between AM and PM milkings resulted in lower udder fill and reduced milk flow-rate. Under these lower udder fill conditions, rear leg movement, as an indicator of cow comfort, reduced when milk flow-rate switch-point for cluster removal increased from 0.2 kg/min (5.75 steps) to 0.8 kg/min (4.96 steps). There was no significant difference between stepping rates on both cluster removal settings during AM milkings. Similarly, no significant differences were noted in assessed post milking teat condition which was conducted after AM milking. The 0.2 kg/min setting extended total daily milking time by 70 s resulting in lower mean flow-rates while producing similar milk yield. Higher vacuum levels at the teat-end were also recorded on this milking setting. This provides further incentive to consider cluster removal settings above 0.2 kg/min. Increasing levels of data are routinely collected on modern dairy farms. These include multiple variables measured by milking machine sensors and software and cow attached sensor data, used predominantly for fertility and health monitoring. Following milking efficiency principles, including milking gently, quickly and completely, there is utility in investigating how various milking machine settings impact on gentleness of milking through a proxy measurement of cow comfort during milking. The use of leg-mounted accelerometers was investigated as a non-invasive labor efficient means of estimating cow comfort on different automatic cluster remover (ACR) milk flow-rate switch-point settings. Accelerometer step count measurements during milking were collected from 37 cows divided into 2 groups allocated to either an ACR milk flow-rate switch-point setting of 0.2 kg/min or 0.8 kg/min for a 2-week period and then crossed-over to the other setting. Significantly more rear leg stepping occurred during daily milking (combined step count during AM and PM milkings) where the ACR activated at 0.2 kg/min (11.7 steps) compared with 0.8 kg/min (10.1 steps). Shorter milking interval between AM and PM milkings resulted in lower udder fill and reduced milk flow-rate. Under these lower udder fill conditions, rear leg movement, as an indicator of cow comfort, reduced when milk flow-rate switch-point for cluster removal increased from 0.2 kg/min (5.75 steps) to 0.8 kg/min (4.96 steps). There was no significant difference between stepping rates on both cluster removal settings during AM milkings. Similarly, no significant differences were noted in assessed post milking teat condition which was conducted after AM milking. The 0.2 kg/min setting extended total daily milking time by 70 s resulting in lower mean flow-rates while producing similar milk yield. Higher vacuum levels at the teat-end were also recorded on this milking setting. This provides further incentive to consider cluster removal settings above 0.2 kg/min. Three pillars of successful milking are recognized as the ability to milk gently, quickly and completely. Optimized milking machine settings, including the use of automatic cluster removers (ACRs) can impact all 3. ACRs, through automating the end of milking process, also attenuate increased labor demands of expanding herd size (Hogan et al., 2022Hogan C. Kinsella J. O’Brien B. Markey A. Beecher M. Estimating the effect of different work practices and technologies on labor efficiency within pasture-based dairy systems.J. Dairy Sci. 2022; 105 (35346463): 5109-5123https://doi.org/10.3168/jds.2021-21216Abstract Full Text Full Text PDF PubMed Scopus (8) Google Scholar). Optimized ACR settings (milk flow-rate switch-point at which ACRs detach clusters from a cows' udder) have been found to reduce milking time without adversely impacting on milk yield or quality (Jago et al., 2010Jago J. Burke J.L. Williamson J.H. Effect of automatic cluster remover settings on production, udder health, and milking duration.J. Dairy Sci. 2010; 93 (20494162): 2541-2549https://doi.org/10.3168/jds.2009-2949Abstract Full Text Full Text PDF PubMed Scopus (44) Google Scholar, Edwards et al., 2013Edwards P. Jago J. Lopez-Villalobos N. Milking efficiency for grazing dairy cows can be improved by increasing automatic cluster remover thresholds without applying premilking stimulation.J. Dairy Sci. 2013; 96 (23567056): 3766-3773https://doi.org/10.3168/jds.2012-6394Abstract Full Text Full Text PDF PubMed Scopus (31) Google Scholar). By preventing vacuum build up on the teat-end (experienced during low milk flow conditions such as at the end of milking) higher ACR milk flow-rate switch-points may also benefit cow health and comfort (Upton et al., 2023Upton J. Browne M. Bolona P.S. Effect of milk flow rate switch-point settings on cow comfort and milking duration.J. Dairy Sci. 2023; 106 (36870830): 2438-2448https://doi.org/10.3168/jds.2022-22484Abstract Full Text Full Text PDF PubMed Scopus (1) Google Scholar). The International Dairy Federation recommends that specific setting of switch-points and delay settings are evaluated within each farm (Poulet et al., 2018Poulet, J.-L., A. Dzidic, R. Ginsberg, M. Rasmussen, E. Manninen, S. Sigurdsson, R. Bruckmaier, V. Tancin, and M. Sánchez Mainar. 2018. Teat-cup and cluster removal strategies for cattle and small ruminants. Review and recommendations. Vol. 491. International Dairy Federation.Google Scholar). Sub-optimal cow comfort during milking can lead to several issues. Eicker et al., 2000Eicker S. Stewart S. Reid D. Rapnicki P. New tools for measuring the effect of stimulation and take-off on milk flows.in: Proc. Minnesota Dairy Health Conf. CVM. Univ. Minnesota, St. Paul2000: 127-133Google Scholar highlighted how, when cows experience discomfort at low or no milk flow levels, it could lead to reluctance to subsequently enter the milking parlor, extending row filling and overall milking time. Bruckmaier, 2005Bruckmaier R.M. Normal and disturbed milk ejection in dairy cows.Domest. Anim. Endocrinol. 2005; 29 (15998500): 268-273https://doi.org/10.1016/j.domaniend.2005.02.023Crossref PubMed Scopus (63) Google Scholar found nervous cows tended to have reduced oxytocin levels which inhibited milk let down resulting in low milk flow and increased vacuum levels acting on the teat. This in turn could precipitate cluster kick-off, further interrupting the milking process. Holst et al., 2021Holst G. Adrion F. Umstaetter C. Bruckmaier R. Type of teat cup liner and cluster ventilation affect vacuum conditions in the liner and milking performance in dairy cows.J. Dairy Sci. 2021; 104 (33612232): 4775-4786https://doi.org/10.3168/jds.2020-19773Abstract Full Text Full Text PDF PubMed Scopus (5) Google Scholar described mechanical impacts on teat tissue from milking equipment that increased risk of cluster kick-offs with reduced milk flow. The seal between the teat barrel and milking cluster liner likely weakened as milk flow decreased. This in turn increased mouthpiece chamber (MPC) vacuum which can increase teat barrel congestion as well as ringing at the teat base, both of which could negatively impact on cow comfort. Penry et al., 2017Penry J. Upton J. Mein G.A. Rasmussen M. Ohnstad I. Thompson P. Reinemann D. Estimating teat canal cross-sectional area to determine the effects of teat-end and mouthpiece chamber vacuum on teat congestion.J. Dairy Sci. 2017; 100 (27837986): 821-827https://doi.org/10.3168/jds.2016-11533Abstract Full Text Full Text PDF PubMed Scopus (33) Google Scholar found high MPC vacuum which induced teat barrel congestion capable of also constricting blood flow from the teat-end. Visual or physical assessment can be conducted on teats to assess the impact that any forces exerted on the tissue during the milking process can have on short, medium and long-term changes to teat condition. Mein et al., 2001Mein G.A. Neijenhuis F. Morgan W.F. Reinemann D.J. Hillerton J.E. Baines J.R. Ohnstad I. Rasmussen M.D. Timms L. Britt J.S. Farnsworth R. Cook N. Hemling T. Evaluation of bovine teat condition in commercial dairy herds: 1. Non-infectious factors.in: Proc. 2nd Int. Symp. Mastitis and Milk Quality, Vancouver, Canada. Natl. Mastitis Counc./Am. Assoc. Bovine Pract. National Mastitis Council, Madison, WI2001: 347-351Google Scholar reviewed classification methodologies of bovine teat condition utilized to assess impact of milking management and equipment on teat tissue. Various strategies have been employed to develop a proxy metric likely to indicate the level of cow comfort during milking. Blood concentration of oxytocin which induces calmness (as well as being critical in milk let down) or the stress hormone cortisol, indicative of an antagonistic effect, have been measured on various occasions (Bruckmaier et al., 1993Bruckmaier R.M. Schams D. Blum J.W. Milk removal in familiar and unfamiliar surroundings: concentrations of oxytocin, prolactin, cortisol and β–endorphin.J. Dairy Res. 1993; 60 (8294603): 449-456https://doi.org/10.1017/S0022029900027813Crossref PubMed Google Scholar, Watters et al., 2015Watters R. Bruckmaier R. Crawford H. Schuring N. Schukken Y. Galton D. The effect of manual and mechanical stimulation on oxytocin release and milking characteristics in Holstein cows milked 3 times daily.J. Dairy Sci. 2015; 98 (25582591): 1721-1729https://doi.org/10.3168/jds.2014-8335Abstract Full Text Full Text PDF PubMed Google Scholar, Wredle et al., 2022Wredle E. Svennersten-Sjaunja K. Munksgaard L. Herskin M. Bruckmaier R. Uvnäs-Moberg K. Feeding and manual brushing influence the release of oxytocin, ACTH and cortisol differently during milking in dairy cows.Front. Neurosci. 2022; 16 (35368263)671702https://doi.org/10.3389/fnins.2022.671702Crossref Scopus (1) Google Scholar). Blood sampling during milking is a restrictive methodology with respect to the objective pursued in these instances. The procedure itself is invasive in nature with cows usually catheterized to enable repeated sampling. Collection of samples during milking is likely to impact on the secretion of hormones of interest and is resource intensive in terms of sample collection and analysis. Another labor intensive method of assessing cow comfort during milking is by visual assessment of animal movement while milking. This can be conducted directly at milking time by an observer (Meyer et al., 2021Meyer D. Haeussermann A. Hartung E. Relationship between dairy cows’ hind leg activity and vacuum records during milking.Animal. 2021; 15 (33637440)100186https://doi.org/10.1016/j.animal.2021.100186Crossref Scopus (1) Google Scholar) or by analyzing video footage of milkings (Wenzel et al., 2003Wenzel C. Schönreiter-Fischer S. Unshelm J. Studies on step–kick behavior and stress of cows during milking in an automatic milking system.Livest. Prod. Sci. 2003; 83: 237-246https://doi.org/10.1016/S0301-6226(03)00109-XAbstract Full Text Full Text PDF Scopus (69) Google Scholar). No example of an automated method based on computer vision techniques has been found to identify stepping or kicking events. Pastell et al., 2006Pastell M. Aisla A.-M. Hautala M. Poikalainen V. Praks J. Veermäe I. Ahokas J. Contactless measurement of cow behavior in a milking robot.Behav. Res. Methods. 2006; 38 (17186758): 479-486https://doi.org/10.3758/BF03192802Crossref PubMed Google Scholar used video recordings together with load sensors under the milking box platform of an automatic milking system where cows stood during milking to measure foot displacement. They also used laser measurement of lateral movement for estimating respiration rate. Foot displacement measurement by load cells in the parlor stall was similarly used by Reinemann et al., 2002Reinemann D. Rasmussen M. LeMire S. Reinemann D.J. Rasmusssen M.D. LeMire S.D. Milking performance of dairy cows subjected to electrical current and induced milking machine problems.Trans. ASAE. 2002; 45: Google Scholar to differences in cow activity during milking based on electrical current with 2 other milking machine et al., C. A. S. F. P. of cow activity during milking by a attached to the milking 2021; 2 Full Text Full Text PDF PubMed Google Scholar attached accelerometers to milking clusters to assess leg movement during milking. This on hind leg movement being to movement of the milking with of leg activity of leg were as of from different or could also step during the period of of the by a cluster could also be by movement induced as of the milking process such as milk and vacuum et al., 2021Meyer D. Haeussermann A. Hartung E. Relationship between dairy cows’ hind leg activity and vacuum records during milking.Animal. 2021; 15 (33637440)100186https://doi.org/10.1016/j.animal.2021.100186Crossref Scopus (1) Google Scholar found of leg movement to milking conditions likely to discomfort with kicking with increased vacuum forces on the teat-end. They also the that the of other the milking could impact on leg movement during milking. accelerometers were employed to assess cow rear leg movement during milking (Upton et al., 2023Upton J. Browne M. Bolona P.S. Effect of milk flow rate switch-point settings on cow comfort and milking duration.J. Dairy Sci. 2023; 106 (36870830): 2438-2448https://doi.org/10.3168/jds.2022-22484Abstract Full Text Full Text PDF PubMed Scopus (1) Google Scholar). as a a with of data of period resulted in an to for the effect of cow the for further work also of the accelerometers used by an with visual assessment data and found the step count of the of leg to non-invasive of cow comfort during milking to increased data collection of modern milking milk flow data routinely recorded by more automated The this in by leg-mounted data recorded the milking period with various milking machine data based on ACR milk flow-rate can data in ACR settings. This was conducted with of the and in with the Health and to and This was at the Dairy at cows Holstein and Holstein in the recorded a milk of at 2 recordings the of the when were on 98 and were by and and and to of 2 automatic cluster remover groups for milk milking time and accelerometers were attached to a rear leg of each cow to during milking. The accelerometers were from the cows at the end of the when the data were Accelerometer data were with milking time data on cluster time and of milking) from the milking management software Milk to the of measured the of milking. milking system was used to milk the cows on the The cows a of and with cluster The milking system utilized milking at a rate of 60 and of and of were and vacuum was at cluster removers and milk were The milking management software recorded the milk flow-rate from each cow at milking at s to as milk flow-rate and clusters at of 2 milk flow-rate switch-points based on the cow cluster at milk flow-rate of 0.2 cluster at 0.8 kg/min. was all cows each The on of cows 2 on each The was Accelerometer data from a was used to determine Milking data AM and PM milk milking milk flow-rate milk flow-rate were from the milking management milking variables were from the milk flow-rate These variables were AM and PM time from cluster to a milk flow-rate of 0.2 AM and PM time to from cluster to and AM and PM time that milk flow-rate 0.2 kg/min cluster removal sample of milk was from each cow for and a machine The data were for to data were in Milking of s were from the data This was the time on the milking machine above which the cluster removers could be with a yield of were This of data from the data The 2 of each period were also from the data to The teats of each cow were assessed after AM milking by the were for teat-end congestion and ringing at the of the teat to the method described by Mein et al., 2001Mein G.A. Neijenhuis F. Morgan W.F. Reinemann D.J. Hillerton J.E. Baines J.R. Ohnstad I. Rasmussen M.D. Timms L. Britt J.S. Farnsworth R. Cook N. Hemling T. Evaluation of bovine teat condition in commercial dairy herds: 1. Non-infectious factors.in: Proc. 2nd Int. Symp. Mastitis and Milk Quality, Vancouver, Canada. Natl. Mastitis Counc./Am. Assoc. Bovine Pract. National Mastitis Council, Madison, WI2001: 347-351Google to each level teat-end each cow an overall cow level teat end of or of was recorded or more of the were on the of methodology was used for or milking time was a on occasions during the to vacuum vacuum and vacuum This data milkings from cows both were in was used to the effect of the on various leg movement variables the procedure as (1) during milking during milking of milking milking of milking milking of and period of data 2 Holstein or or and were as was as a repeated was used to the effect of on the and of the cows the procedure as or or period and were as was used to the effect of the on various variables the procedure as milking milk time to and time. period and were as was as a and a repeated was This has and that with cow comfort during milking is to of the 3 pillars of successful milking. to this is the milk flow-rate switch-point for cluster removal to and discomfort by increased vacuum load on teat tissue. such discomfort could precipitate increased movement during milking. an and metric for rear leg movement could as a indicator of discomfort various milking with data were at the end of the The data or or were from the cows' daily milking and PM milkings the step count of on was higher on This was also the when analyzing PM milkings movement data was also while the of cluster This was to other of the cow experience during the cluster process from any discomfort to increased vacuum acting on the resulting from milk flow the end of milking. PM of cluster reduced step count by on and on when compared with the total for the PM the significant difference between in leg movement between ACR during AM with or without of cluster were means for rear leg movement by where the cluster was at 0.2 where the cluster was at 0.8 where the cluster was at 0.2 where the cluster was at 0.8 during milking from on to when of milking milking during milking of cluster AM milking of cluster PM milking of cluster where the cluster was at 0.2 where the cluster was at 0.8 Milking from on to when of in a This is in to work where differences in leg movement for AM milkings were significant PM milkings were (Upton et al., 2023Upton J. Browne M. Bolona P.S. Effect of milk flow rate switch-point settings on cow comfort and milking duration.J. Dairy Sci. 2023; 106 (36870830): 2438-2448https://doi.org/10.3168/jds.2022-22484Abstract Full Text Full Text PDF PubMed Scopus (1) Google Scholar). to equipment in the work a could be The nature of the was to for the effect of to the work this was more the period where the risk of milk which likely increase teat end was The accelerometers used to measure movement in and the step count to stepping movement, with or without movement was in the of the similar to the work conducted by et al., C. A. S. F. P. of cow activity during milking by a attached to the milking 2021; 2 Full Text Full Text PDF PubMed Google Scholar with cluster on movement in Visual work of rear leg movement during milking conducted by et al., 2021Meyer D. Haeussermann A. Hartung E. Relationship between dairy cows’ hind leg activity and vacuum records during milking.Animal. 2021; 15 (33637440)100186https://doi.org/10.1016/j.animal.2021.100186Crossref Scopus (1) Google Scholar found that of leg movement to mouthpiece chamber vacuum for post milking changes in teat tissue condition as by Mein et al., 2001Mein G.A. Neijenhuis F. Morgan W.F. Reinemann D.J. Hillerton J.E. Baines J.R. Ohnstad I. Rasmussen M.D. Timms L. Britt J.S. Farnsworth R. Cook N. Hemling T. Evaluation of bovine teat condition in commercial dairy herds: 1. Non-infectious factors.in: Proc. 2nd Int. Symp. Mastitis and Milk Quality, Vancouver, Canada. Natl. Mastitis Counc./Am. Assoc. Bovine Pract. National Mastitis Council, Madison, WI2001: 347-351Google Scholar no significant differences between both cluster removal settings when conducted by a observer is a more measure in to the objective measure of leg movement by the all teat were conducted after AM milkings it was to determine any impact on tissue condition from PM milkings where significant differences in leg movement were PM milkings were of with lower for teat end congestion were within by teat and These that of both teat barrel ringing and teat end be of cows in the herd and of overall teats within a herd to udder of teat barrel ringing in the was above this for for The farm where the was conducted more udder be of pasture-based farms. to the being conducted to the time of milk flow. daily milk of under on this system be low compared with more intensive with udder fill further reduced at PM milkings to the milking for teat-end and congestion by where the cluster was at 0.2 where the cluster was at 0.8 of cows with at teat-end as of teats as of cows with at teat barrel as of teat as where the cluster was at 0.2 where the cluster was at 0.8 of cows with at teat-end as of teats as of cows with at teat barrel as of teat as in a with work (Upton et al., 2023Upton J. Browne M. Bolona P.S. Effect of milk flow rate switch-point settings on cow comfort and milking duration.J. Dairy Sci. 2023; 106 (36870830): 2438-2448https://doi.org/10.3168/jds.2022-22484Abstract Full Text Full Text PDF PubMed Scopus (1) Google there was a significant effect of (milk flow-rate on milk time and milking milking for was 70 s for was kg/min time for was s differences in the of records of measured by at AM milkings were more with time for being s No effect on flow-rate or was found and no of was means from the for the milking by where the cluster was at 0.2 where the cluster was at 0.8 Milk Milk Milk Milk to to to where the cluster was at 0.2 where the cluster was at 0.8 in a there was a significant in time as measured by milk flow between and for both AM and PM there was in time when the higher milk flow-rate switch-point for PM milkings compared with AM milkings. This may the difference in step count when both settings was significant for PM milkings for AM milkings. There is also a that such effects may from differences in flow-rate at the of milking. This could the of milk in the udder under a higher milk flow-rate switch-point at AM milking milk for removal at the lower PM milking. time and time to data from 3 the the flow-rate in the at a for during PM milkings. resulted in lower mean milk flow-rates milk flow-rates to increase vacuum under the teat 2005Bruckmaier R.M. Normal and disturbed milk ejection in dairy cows.Domest. Anim. Endocrinol. 2005; 29 (15998500): 268-273https://doi.org/10.1016/j.domaniend.2005.02.023Crossref PubMed Scopus (63) Google impacting cow comfort. the of records this measurement was higher on the producing milk vacuum levels of for the milking period and for the period compared with for the milking period and for the period on the setting. Significantly more rear leg stepping occurred during daily milking where the automatic cluster remover activated at 0.2 kg/min compared with 0.8 kg/min significant difference between was also found for rear leg movement during PM milkings No significant difference was found between thresholds for rear leg movement during AM milking. Shorter milking between AM and PM milkings resulted in lower udder fill and reduced milk flow-rate lower on with leg movement when clusters at a higher milk flow-rate The by and the of and on of the of under and was by The have any of

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