In this master thesis a robot arm belonging to an automatic milking machine from DeLaval is investigated. The robot arm is controlled by a pneumatic cylinder and a valve. The goal of the master thesis is to investigate instability problems and to find out if it is possible to solve them by using gain scheduling. Gain scheduling is a type of controller where the parameters of the controller are changed during operation, for example depending on the working point. First a nonlinear mathematical model of the system was made.

The aim of this literature study was to analyze how milk urea concentration is working as a measure of the nitrogen supply to rumen microbes and indicator of the environmental load. Questions included in this literature study were how to improve the dairy cattle nitrogen efficiency and what correlations there are between milk urea, nitrogen efficiency and crude protein content in the feed. Effects on the reproduction from high ration protein content are also addressed. Dairy cattle are today fed with large proportions of protein which could lead to high expenditure of feed and environmental pollutions. The nitrogen can be lost to the environment by different pathways; leaching, denitrification or by emission to the air.

The aim of this literature study was to analyze how milk urea concentration is working as a measure of the nitrogen supply to rumen microbes and indicator of the environmental load. Questions included in this literature study were how to improve the dairy cattle nitrogen efficiency and what correlations there are between milk urea, nitrogen efficiency and crude protein content in the feed. Effects on the reproduction from high ration protein content are also addressed. Dairy cattle are today fed with large proportions of protein which could lead to high expenditure of feed and environmental pollutions. The nitrogen can be lost to the environment by different pathways; leaching, denitrification or by emission to the air.

The objective of this thesis was to get more knowledge about how to design a dairy farm reducing the working hours and the work tasks whit high work load. I will try to reduce the working hours and the tasks whit high work load on my own farm witch I am about inherit. Today, the old stanchion barn has room for about 60 cows and 74 young cattle and need two men to run it every day. The total acre is 188 hectare, 100 hectare forest, 65 hectare farmlands and 23 hectare natural pasture. I have studied two solutions. In the first solution, I will use my old barn for young cattle and build a new barn for the cows.

Soft rubber flooring have gained in popularity over the last years. Rubber flooring al-lows cow to move more freely without slipping and improves claw and leg health. The purpose of this study was to investigate the influence of a stepwise introduktion of soft flooring on cow`s placement in cow houses with robotic milking. A case study was carried out in a herd in northern Sweden with 41 cows. Observations were made every 15 minutes between 09.00 and 16.00 concering cow placement in cu-bicles, in cubicle alley, in feeding alley and in feeding alley with the head through feed-ing gate. One observation period was carried out per flooring alternativ: 1) all concrete slatted floor, 2) rubber slatted floor in feeding alley and concrete slatted floor in cubicle alley and 3) rubber slatted floors in feeding alley and solid rubber floors in cubicle alley. The study showed that 6 %-units fewer cows lay in the cubicles when the feeding alley surface was slatted rubber.

In Sweden regulations stipulates that dairy cows are kept on pasture, or given the opportunity to spend time outside during a coherent period of between two to four months, depending on region. The transition out to pasture is a big change from the winter period in the stable, especially for the modern high yielding dairy cows. The let out to pasture includes a change in feed, environment, and new routines. There are indications that the milk somatic cell count (SCC) rises in a peak shortly after the let out. The purpose of this study was to see if peaks in the SCC could be observed after the let out, and to study the contribution of inflammatory cells (neutrophils) and if the milk composition are affected. The study included 35 cows that were kept in stable during the winter.

This study investigated the effects of rubber alley flooring on cow locomotion, claw and leg health, production, cleanliness, grooming behaviour and cow exclusion rate in a free stall herd. The study was conducted in a new dairy house with a rotary milking system, with a matched group of cows on traditional scraped concrete alleys used for comparison. All claws were trimmed and lesions recorded at the beginning and end of the 4-month study. Locomotion, claw and leg health, behaviour and hygiene were observed and scored at regular intervals during the study. The results showed that cows on rubber alley floors displayed significantly (p.

Today, there are no regulations saying that cows must have access to some kind of shelter at pasture during the summer. In more tropical countries, it is well-known that dairy cows might suffer from heat stress when exposed to sun and high temperatures. The well-being of the cows is thereby reduced and the production may also decrease. In Sweden, no research has been done in the area and therefore it is now a clear need of improved knowledge.The purpose of this study was to investigate the importance of shade for dairy cows in Sweden. The behaviour of 30 cows was examined to see any differences between cows with access to shade and cows without access to shade.

Swedish dairy production has during the last decades undergone considerable structural rationalisation and the number of dairy herds has decreased to less than 7000. At the same time the average herd size has increased and a large proportion of those investing in new buildings today choose automatic milking (AM). During 2008 more than ten percent of the Swedish cows will be milked with AM. The development has been faster than expected and the need for consulting has increased rapidly. This study aims to evaluate whether a check list originating from the FRISKKO (?healthy cow?) programme can be a useful tool when assessing how well the herd functions in various areas.

The dairy market will change importantly in the coming years. The quota system, which has regulated the European dairy production, will disappear in 2015 and the European dairy market will then be importantly affected by the volatility characterizing the dynamic of world prices. Besides this, the global demand of dairy products is expected to increase due to the growing world population. Farmers in countries such as the U.S. and New Zealand, when compared to Swedish farmers, show greater familiarity and experience with risk management tools.

To get a good economy on the dairy farms the fertility control of heifers and cows is a crucial factor. It is also important to know which key parameters that should be tracked. In this work well established routines for heat detection have to be applied. When the dairy farmers use technical aid in estrus control it is important not to forget that technical aids can not replace the human eye. Approximately 50 % of all opportunities to inseminate are missed because clear signs of estrus have not been displayed and/or recorded. The cattle fertility has been declining over recent years. During the same time the cow?s proceeds have increased, consequently applying a higher pressure on the cow and the manager.

Today, our cows experience a harder pressure to achieve higher milk yield. To manage this challenge the animal needs first class feeding and treatment. An important aspect of the feeding is to fulfil the need from the cows of especially fiber; and fiber with a sufficient proportion of long particles. Both too much and too little fiber is bad for the wellbeing of the cow, and she might get diseases like acidosis. Many models for feed management have been developed to secure that the animal gets enough of e.g. fiber with a sufficient proportion of long particles.

In order to optimize calf welfare and health it is important to know the behavior of cattle in free ranging conditions. When the cow is about to give birth to a calf she will leave the heard about 12 hours before. It is then rather obvious that isolating the cow about calving time in a single pen is imitating the cows? natural behavior. To save space and minimize building cost it?s common that the farmers build calving pens for four of five cows especially at larger farms.

Today dairy farmers in Sweden are obligated to have lights turned on during night time in addition to the mandatory daylight inlet. This presents a cost for the production but many argue that it can be economically beneficial, especially in loose housing of dairy cows. In loose housing and even more so in herds with automatic milking, well functioning cow traffic during all hours of the day is crucial to optimise production. In order to keep the cow traffic flowing, lights may be an important management tool. It is also perceived among farmers with tied up stall that night light decreases the incidents of cows accidental stepping on their own or neighbours udders.

This master thesis is about the collaboration between the custom dairy heifer grower and thedairy producer.The custom dairy heifer grower is a rather unusual strategy of reproductive management inSweden compared to other countries like U.S. and Denmark where the specialization withindairy production gone much further. In these countries the research also has reached muchfurther within this type of industry. However in Sweden there has been research made in thearea of collaboration, but then only within collaborations in the industries of crop production,dairy production and pork meat.The down going trend of profitability within dairy production together with poor profitabilityin the beef industry could partly remedy if more collaborations around heifer contractingwould arise. But since the industry still is of a rare kind in Sweden the knowledge about howthese types of collaborative arrangements works and their contracts are put together is poor.By that the aim of this master thesis is formulated as follows: "how is usually thecollaborative arrangement between the dairy producer and custom dairy heifer growerdesigned".