Deep Vision Servo Hand-Eye Coordination Planning Study for Sorting Robots

Within the context of large-scale symmetry, a study on deep vision servo hand-eye coordination planning for sorting robots was conducted according to the problems of low recognition-sorting accuracy and efficiency in existing sorting robots. In order to maintain the symmetry of the picking robot, a small telescopic sorting robot with RealSense depth vision servo embedded in the manipulator was developed. The workspace and posture of picking parcels were analyzed, and the coordinate transformation model of hand-eye coordination was established for the “Eye-in-hand” mode. The hand-eye coordinated sorting test shows that the average positioning accuracy of the end in the X, Y and Z directions is 3.49 mm, 2.76 mm and 3.32 mm respectively, and the average time is 19.19 s. Among them, the average time for the mechanical arm to pick up the package from the initial position is 12.02 s, the average time for intermediate identification and calculation is 3.79 s, and the average time for placing the package is 6.9 s. The time consumed by robot arm’s action accounts for 79.8% of the whole cycle. The robot structure and the hand-eye coordination strategy with RealSense depth vision servo embedded in the robot can meet picking operation requirements, and the design of a picking robot proposed in this paper can greatly improve the coordination symmetry of fruit target recognition, detection, and picking.

Interfacial-confined coordination to single-atom nanotherapeutics

Pursuing and developing effective methodologies to construct highly active catalytic sites to maximize the atomic and energy efficiency by material engineering are attractive. Relative to the tremendous researches of carbon-based single atom systems, the construction of bio-applicable single atom materials is still in its infancy. Herein, we propose a facile and general interfacial-confined coordination strategy to construct high-quality single-atom nanotherapeutic agent with Fe single atoms being anchored on defective carbon dots confined in a biocompatible mesoporous silica nanoreactor. Furthermore, the efficient energy conversion capability of silica-based Fe single atoms system has been demonstrated on the basis of the exogenous physical photo irradiation and endogenous biochemical reactive oxygen species stimulus in the confined mesoporous network. More importantly, the highest photothermal conversion efficiency with the mechanism of increased electron density and narrow bandgap of this single atom structure in defective carbon was proposed by the theoretical DFT calculations. The present methodology provides a scientific paradigm to design and develop versatile single atom nanotherapeutics with adjustable metal components and tune the corresponding reactions for safe and efficient tumor therapeutic strategy.

Research on anti-fatigue design method of welded structure oriented to stiffness coordination strategy

PurposeIn order to obtain the relationship between the geometry and stress concentration of load-bearing welded joints, the fatigue design method of welded structures based on stiffness coordination strategy is studied.Design/methodology/approachBased on the structural stress theory, a new method for anti-fatigue design of welded structures oriented to stiffness coordination strategy is proposed, and the detailed implementation process of this method is given. This method is also called the three-stage anti-fatigue design method for welded structures, which includes three stages, namely, identification, analysis and relief of stress concentration.FindingsThrough the experimental analysis of welded joints in IIW standard, the effectiveness of stiffness coordination in welded joint design is proved. The method is applied to the design of welded parts and products, and the feasibility of the method in alleviating the phenomenon of stress concentration and improving the fatigue resistance of welded structures is verified.Originality/valueIn this study, based on the principle of coordinated design of weld stiffness, a three-stage anti-fatigue design method of welded structure is proposed. The method has practical value for the optimization design and anti-fatigue performance improvement of welded structure in engineering products.

A Theory of Coordination in Agile Software Development Projects

<p>Agile software development offers a deceptively simple means to organise complex multi-participant software development while achieving fast delivery of quality software, meeting customer requirements, and coping effectively with project change. There is little understanding, however, of how agile software development projects achieve effective coordination, a critical factor in successful software projects. Agile software development provides a unique set of practices for organising the work of software projects, and these practices seem to achieve effective project coordination. Therefore, this thesis takes a coordination perspective to explore how agile software projects work, and why they are effective. The outcome of this research is a theory of coordination in co-located agile software development projects. To build a coordination theory, evidence was drawn from a multi-case study following the positivist tradition in information systems. Three cases of agile software development contributed to the theory, along with one additional non-agile project that contributed contrasting evidence. The findings show that agile software development practices form a coordination strategy addressing three broad categories of dependency: knowledge dependencies, task dependencies, and resource dependencies. Most coordination is for managing requirement, expertise, historical, and task allocation dependencies; all forms of knowledge dependency. Also present are task dependencies, which include activity or business process dependencies, and resource dependencies, which include technical or entity dependencies. The theory of coordination explains that an agile coordination strategy consists of coordination mechanisms for synchronising the project team, for structuring their relations, and for boundary spanning. A coordination strategy contributes to coordination effectiveness, which has explicit and implicit components. The primary contribution of this theory is an explanation of how agile software development practices act together to achieve effective project coordination. The coordination strategy concept can be used to select practices from agile methods to ensure software projects achieve effective coordination. In addition, once operationalised in future work, the well-grounded theoretical concepts developed in this research will provide valuable tools for measuring the coordination effectiveness of agile method adoption and adaptation.</p>

A Theory of Coordination in Agile Software Development Projects

<p>Agile software development offers a deceptively simple means to organise complex multi-participant software development while achieving fast delivery of quality software, meeting customer requirements, and coping effectively with project change. There is little understanding, however, of how agile software development projects achieve effective coordination, a critical factor in successful software projects. Agile software development provides a unique set of practices for organising the work of software projects, and these practices seem to achieve effective project coordination. Therefore, this thesis takes a coordination perspective to explore how agile software projects work, and why they are effective. The outcome of this research is a theory of coordination in co-located agile software development projects. To build a coordination theory, evidence was drawn from a multi-case study following the positivist tradition in information systems. Three cases of agile software development contributed to the theory, along with one additional non-agile project that contributed contrasting evidence. The findings show that agile software development practices form a coordination strategy addressing three broad categories of dependency: knowledge dependencies, task dependencies, and resource dependencies. Most coordination is for managing requirement, expertise, historical, and task allocation dependencies; all forms of knowledge dependency. Also present are task dependencies, which include activity or business process dependencies, and resource dependencies, which include technical or entity dependencies. The theory of coordination explains that an agile coordination strategy consists of coordination mechanisms for synchronising the project team, for structuring their relations, and for boundary spanning. A coordination strategy contributes to coordination effectiveness, which has explicit and implicit components. The primary contribution of this theory is an explanation of how agile software development practices act together to achieve effective project coordination. The coordination strategy concept can be used to select practices from agile methods to ensure software projects achieve effective coordination. In addition, once operationalised in future work, the well-grounded theoretical concepts developed in this research will provide valuable tools for measuring the coordination effectiveness of agile method adoption and adaptation.</p>