3.10 Bumble bee semi-field studies: choice and management of colonies to reduce variability in assessment endpoints

The publication of the proposed EFSA risk assessment for pollinators resulted in an increasing demand for experiments with non-Apis pollinators (EFSA 2013). However, no official guideline for the standardized semifield trials exists so far. To overcome this lack of guidance, the development of semi-field study designs are under way. The methodology is concurrently be developed by an ICPPR working group (non-Apis working group).A major challenge in higher tier studies is the variability of the different endpoints. Hive development and particularly the production of young queens are very variable (Cabrera et al. 2016). With the current knowledge it seemed crucial to select appropriate colonies for the tests to reduce variability. The aim was to evaluate different strategies for the selection of bumble bee colonies and to improve the data quality with regard to the most important endpoints in bumble bee semi-field studies.The publication of the proposed EFSA risk assessment for pollinators resulted in an increasing demand for experiments with non-Apis pollinators (EFSA 2013). However, no official guideline for the standardized semifield trials exists so far. To overcome this lack of guidance, the development of semi-field study designs are under way. The methodology is concurrently be developed by an ICPPR working group (non-Apis working group).A major challenge in higher tier studies is the variability of the different endpoints. Hive development and particularly the production of young queens are very variable (Cabrera et al. 2016). With the current knowledge it seemed crucial to select appropriate colonies for the tests to reduce variability. The aim was to evaluate different strategies for the selection of bumble bee colonies and to improve the data quality with regard to the most important endpoints in bumble bee semi-field studies

3.11 Bumble bee queen production in semi-field studies: assessment of endpoints and challenges

Bumble bees (Bombus terrestris L; Hymenoptera, Apidae) provide important pollination services and are commercially used, e.g. in greenhouse cultures. Consequently, the impacts of pesticides on bumble bees were already tested in the past. In the light of the newest EFSA guidance document on the risk assessment of plant protection products for pollinators standardized higher tier studies for pollinators are needed (EFSA 2013). For that reason a ringtest protocol for a bumble bee semi-field study design was developed in the ICPPR Non-Apis working group starting in 2015 to date.The central endpoint in a higher tier bumble bee study is the colony reproduction success (production of young queens, Cabrera et al. 2016). The endpoint is chosen because at the end of the annual life cycle of a bumble bee colony all workers die and only young queens overwinter. Queens that survive establish a new colony in the following year. However, assessing queen reproduction is challenging. Many variables can influence the number of produced queens, such as the right timing for the termination of the study or the condition of the colony at study start. Furthermore, young queen weights are measured. Weight is used as indicator of diapause survival. Literature values of average weight needed for survival before overwintering state 0.8 g for a young queen for successful overwintering (Beekman et al. 1998).Based on data from ring tests of 2016 and 2017 we tried to answer several open questions concerning queen reproduction, i.e. how can the experimental set-up influence queen weights and how high is the natural variation in queen numbers and queen weight/size?Bumble bees (Bombus terrestris L; Hymenoptera, Apidae) provide important pollination services and are commercially used, e.g. in greenhouse cultures. Consequently, the impacts of pesticides on bumble bees were already tested in the past. In the light of the newest EFSA guidance document on the risk assessment of plant protection products for pollinators standardized higher tier studies for pollinators are needed (EFSA 2013). For that reason a ringtest protocol for a bumble bee semi-field study design was developed in the ICPPR Non-Apis working group starting in 2015 to date.The central endpoint in a higher tier bumble bee study is the colony reproduction success (production of young queens, Cabrera et al. 2016). The endpoint is chosen because at the end of the annual life cycle of a bumble bee colony all workers die and only young queens overwinter. Queens that survive establish a new colony in the following year. However, assessing queen reproduction is challenging. Many variables can influence the number of produced queens, such as the right timing for the termination of the study or the condition of the colony at study start. Furthermore, young queen weights are measured. Weight is used as indicator of diapause survival. Literature values of average weight needed for survival before overwintering state 0.8 g for a young queen for successful overwintering (Beekman et al. 1998).Based on data from ring tests of 2016 and 2017 we tried to answer several open questions concerning queen reproduction, i.e. how can the experimental set-up influence queen weights and how high is the natural variation in queen numbers and queen weight/size

Effects of temperature and mounting configuration on the dynamic parameters identification of industrial robots

Dynamic parameters are crucial for the definition of high-fidelity models of industrial manipulators. However, since they are often partially unknown, a mathematical model able to identify them is discussed and validated with the UR3 and the UR5 collaborative robots from Universal Robots. According to the acquired experimental data, this procedure allows for reducing the error on the estimated joint torques of about 90% with respect to the one obtained using only the information provided by the manufacturer. The present research also highlights how changes in the robot operating conditions affect its dynamic behavior. In particular, the identification process has been applied to a data set obtained commanding the same trajectory multiple times to both robots under rising joints temperatures. Average reductions of the viscous friction coefficients of about 20% and 17% for the UR3 and the UR5 robots, respectively, have been observed. Moreover, it is shown how the manipulator mounting configuration affects the number of the base dynamic parameters necessary to properly estimate the robots’ joints torques. The ability of the proposed model to take into account different mounting configurations is then verified by performing the identification procedure on a data set generated through a digital twin of a UR5 robot mounted on the ceiling

Identification of a UR5 collaborative robot dynamic parameters

The present paper describes an algorithm for the identification of the dynamic parameters of an industrial robot. This approach is based on the possibility to write robot dynamics in a linear form with respect to a specific set of dynamic parameters. To properly detect them, the coefficients of a 5th order Fast Fourier Series (FFS) trajectory have been optimized using a genetic algorithm. Such identification trajectory has been then commanded to a UR5 collaborative robot from Universal Robots and experimental joints torques have been recorded at a frequency of 125 Hz. Base dynamic parameters were identified using least square errors optimization reaching low standard deviations. The algorithm has been validated with a second persistent trajectory with good results. Temperature effects on friction coefficients have been analyzed by running two identification processes: one just after the first power-up of the robot and the other one after a half an hour warm-up