Author: claimsbot

1. A method for allocation of one or more pipes with several pipe parts to be cut for a laser cutting machine, wherein the pipe parts to be cut are selected from an order table, the method comprising:
measuring a length of each of the one or more pipes;
calculating, before measuring, a nesting of a pipe part relative to the same pipe part or a different pipe part of the order table;
calculating a plurality of pipe allocation variants for a particular pipe of the one or more pipes with the pipe parts to be cut based on the nesting and the measured pipe length of the particular pipe;
selecting one of the plurality of calculated pipe allocation variants as a desired pipe allocation; and
cutting the particular pipe based on the desired pipe allocation.
2. The method according to claim 1, further comprising calculating a sum of pipe parts for each of the plurality of calculated pipe allocation variants, wherein a calculated pipe allocation variant having the largest sum of pipe parts is selected as the desired pipe allocation.
3. The method according to claim 1, further comprising:
calculating a sum of pipe parts for each of the plurality of calculated pipe allocation variants;
identifying a subset of calculated pipe allocation variants as having the same maximum sum of pipe parts; and
calculating an occupied pipe length for each of the subset of calculated pipe allocation variants, wherein a calculated pipe allocation variant of the subset of calculated pipe allocation variants having the smallest occupied pipe length is selected as the desired pipe allocation.
4. The method of claim 1, further comprising calculating nesting for each pipe part of the order table based on an approved parts order.
5. The method of claim 1, further comprising calculating nesting with respect to the same pipe part and to all different pipe parts of the order table based on an approved parts order.
6. The method according to claim 1, further comprising calculating nesting with respect to all different pipe parts of the order table based on a blocked parts order.
7. The method according to claim 1, further comprising transferring the measured pipe length to a control device of the laser cutting machine, wherein calculating the pipe allocation variants occurs upon receipt of the measured pipe length at the control device.
8. The method according to claim 1, wherein calculating pipe allocation variants is terminated as soon as the pipe has been disposed in a transfer position and has been transferred to a supply device of the laser cutting machine.
9. The method according to claim 1, wherein calculating pipe allocation variants is terminated after a preset time.
10. The method according to claim 1, wherein calculating pipe allocation variants is terminated as soon as the pipe is disposed in a processing position.
11. The method according to claim 1, further comprising dispatching a parts order for a pipe part into the order table, wherein nesting of the pipe part with respect to the same pipe part and to all different pipe parts of the order table is calculated in response to dispatching.
12. The method according to claim 1, further comprising receiving approval of a parts order for a pipe part, wherein nesting of the pipe part with respect to the same pipe part and to all different is calculated in response to receiving approval.
13. The method according to claim 1, wherein calculating nesting of a pipe part relative to the same pipe part or a different pipe part is initiated by a machine operator.
14. The method according to claim 1, wherein calculated nestings of a pipe part are deleted as soon as an associated NC parts program of the pipe part has been deleted from a program management device.
15. The method according to claim 1, wherein calculated nestings of a pipe part are deleted as soon as an associated parts order of the pipe part has been deleted in the order.
16. A computer program product for allocation of one or more pipes with several pipe parts to be cut for a laser cutting machine, the program product being executable on a data processing system to perform operations comprising
measuring a length of each of the one or more pipes;
calculating, before measuring, a nesting of a pipe part relative to the same pipe part or a different pipe part of the order table;
calculating a plurality of pipe allocation variants for a particular pipe of the one or more pipes with the pipe parts to be cut based on the nesting and the measured pipe length of the particular pipe;
selecting one of the plurality of calculated pipe allocation variants as a desired pipe allocation; and
initiating cutting of the particular pipe based on the desired pipe allocation.
17. The computer program product according to claim 16, wherein the operations further comprise calculating a sum of pipe parts for each of the plurality of calculated pipe allocation variants, wherein a calculated pipe allocation variant having the largest sum of pipe parts is selected as the desired pipe allocation.
18. The computer program product according to claim 16, wherein the operations further comprise:
calculating a sum of pipe parts for each of the plurality of calculated pipe allocation variants;
identifying a subset of calculated pipe allocation variants as having the same maximum sum of pipe parts; and
calculating an occupied pipe length for each of the subset of calculated pipe allocation variants, wherein a calculated pipe allocation variant of the subset of calculated pipe allocation variants having the smallest occupied pipe length is selected as the desired pipe allocation.
19. The computer program product of claim 16, wherein the operations further comprise one of:
calculating nesting for each pipe part of the order table based on an approved parts order;
calculating nesting with respect to the same pipe part and to all different pipe parts of the order table based on an approved parts order; and
calculating nesting with respect to all different pipe parts of the order table based on a blocked parts order.
20. The computer program product of claim 16, wherein the operations further comprise one of:
dispatching a parts order for a pipe part into the order table, wherein nesting of the pipe part with respect to the same pipe part and to all different pipe parts of the order table is calculated in response to dispatching;
receiving approval of a parts order for a pipe part, wherein nesting of the pipe part with respect to the same pipe part and to all different is calculated in response to receiving approval; and
calculating nesting of a pipe part relative to the same pipe part or a different pipe part when initiated by a machine operator.

The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.

1-46. (canceled)
47. An apparatus for depositing a group III metal nitride film on a substrate, the apparatus comprising:
(a) a plasma generator to generate a nitrogen plasma from a nitrogen source;
(b) a reaction chamber in which to react a reagent comprising a group III metal with a reactive nitrogen species derived from the nitrogen plasma so as to deposit a group III metal nitride on the substrate;
(c) a plasma inlet to facilitate the passage of nitrogen plasma from the plasma generator into the reaction chamber; and
(d) a baffle having one or more flow channels for passage of the nitrogen plasma, the baffle located between the plasma inlet and the substrate and the baffle comprising a plurality of distribution members located above a blocking member, each distribution member defining an aperture and being spaced from adjacent distribution members and the blocking member,
wherein the baffle prevents a straight line of passage for nitrogen plasma between the plasma inlet and the substrate.
48. The apparatus of claim 47 wherein the apertures defined by the distribution members are progressively smaller upon approaching the blocking member.
49. The apparatus of claim 47 wherein consecutive distribution members and the blocking member are at least partially overlapping.
50. The apparatus of claim 47 wherein adjacent distribution members and the blocking member are connected by one or more circumferentially disposed connecting members.
51. The apparatus of claim 47 wherein each circumferentially disposed connecting member is circumferentially offset from those connecting members located immediately above and below.
52. The apparatus of claim 47 wherein the plurality of distribution members are rings and the blocking member is a solid disc and wherein the rings are of progressively smaller diameter with the smallest diameter ring located adjacent the solid disc.
53. The apparatus of claim 52 wherein the rings are substantially parallel to one another.
54. The apparatus of claim 53 wherein the parallel rings are disposed in a plane substantially perpendicular to the direction of flow of nitrogen plasma from the plasma inlet.
55. The apparatus of claim 47 wherein one or more of the distribution members comprise a projection to direct the nitrogen plasma in a substantially vertical downwards direction.
56. The apparatus of claim 47 wherein the group III metal nitride film is a gallium nitride film.
57. A plasma baffle comprising:
(a) a first distribution member defining an entry aperture;
(b) a blocking member; and
(c) one or more connecting members disposed circumferentially and extending between the first distribution member and the blocking member to space the first distribution member and the blocking member apart;
wherein the space between the first distribution member and the blocking member defines a plasma flow channel.
58. The apparatus of claim 47 wherein the baffle filters out high energy unwanted reactive nitrogen plasma species to prevent their contacting the substrate.
59. The baffle of claim 57 wherein the first distribution member and the blocking member are at least partially overlapping.
60. The baffle of claim 57 further comprising one or more further distribution members defining apertures, each further distribution member being connected to adjacent distribution members, or the first distribution member, by one or more circumferentially disposed connecting members and each further distribution member at least partially overlapping a consecutive distribution member or the first distribution member.
61. The baffle of claim 60 wherein the apertures and the entry aperture defined by the further distribution members and the first distribution member are progressively smaller upon approaching the blocking member.
62. The baffle of claim 60 wherein the distribution members are rings and the blocking member is a solid disc and wherein the rings are of progressively smaller diameter with the smallest diameter ring located adjacent the solid disc.
63. A process for depositing a group III metal nitride film on a substrate the process comprising the steps of:
(a) producing a nitrogen plasma using a plasma generator and a nitrogen source;
(b) introducing the nitrogen plasma into a reaction chamber via a plasma inlet;
(c) passing the nitrogen plasma through a baffle having one or more flow channels for passage of the nitrogen plasma, the baffle located between the plasma inlet and the substrate and comprising a plurality of distribution members located above a blocking member, each distribution member defining an aperture and being spaced from adjacent distribution members and the blocking member to thereby prevent a straight line of passage for nitrogen plasma between the plasma inlet and the substrate; and
(d) injecting a reagent comprising a group III metal into the reaction chamber at a point between the baffle and the substrate,
to thereby deposit the group III metal nitride film on the substrate.
64. The process of claim 63 further comprising the step of introducing a scavenging gas into the reaction chamber to scavenge contaminants.
65. The process of claim 63 further comprising the step of introducing a surfactant into the reaction chamber to at least partially suppress an intensity of a yellow band emission of the resulting group III metal nitride film.
66. The process of claim 63 wherein the apertures defined by the distribution members are progressively smaller upon approaching the blocking member.
67. The process of claim 63 wherein consecutive distribution members and the blocking member are at least partially overlapping.
68. The process of claim 63 wherein adjacent distribution members and the blocking member are connected by one or more circumferentially disposed connecting members.
69. The process of claim 63 wherein the plurality of distribution members are rings and the blocking member is a solid disc and wherein the rings are of progressively smaller diameter with the smallest diameter ring located adjacent the solid disc.

1. A method for preparing fermentation broth of fruits and vegetables comprising steps of:
mixing fruits, vegetables, bacteria liquid of Lactobacillus acidophilus, bacteria liquid of Bifidobactreium longum, bacteria liquid of Lactobacillus delbrueckii subsp. bulgaricus, and bacteria liquid of Streptococcus thermophilus, and processing fermentation to obtain a fermentation product, i.e., the fermentation broth of fruits and vegetables.
2. The method, as recited in claim 1, wherein a fermentation temperature is 18\xb0 C\u02dc37\xb0 C., a fermenting period is 10 days\u02dc180 days, and a fermentation method comprises stirring while fermentation.
3. The method, as recited in claim 1 further comprising: smashing the fruits and the vegetables into pieces of 40\u02dc50 meshes before the step of fermentation, filtering the fermentation product after the step of fermentation, collecting filtrate, processing ultrafiltration, and collecting liquid produced by the ultrafiltration, i.e. the fermentation broth of fruits and vegetables.
4. The method, as recited in claim 1, wherein the fruits and the vegetables refer to a mixture of 54 kinds of fruits and vegetables, which are
konjak, eggplant, asparagus, spinach, bean sprout, broccoli, cabbage, radish, cucumber, peas, red pepper, celery, scallion, garlic, grapes, grapefruit, watermelon, peach, tangerine, blue berry, sweet orange, banana, litchi, balsam pear, leek, pomegranate, pitaya, carrot, tomato, Chinese cabbage, parsley, bell pepper, lettuce, pear, ginger, taro, kidney bean, pumpkin, lotus root, cherry, kiwi fruit, plum, strawberry, fig, kumquat, mandarin orange, Nanguo pear, cantaloup, Hami melon, papaya, onion, mulberry, sugar beet, and lemon.
5. The method, as recited in claim 1 wherein mass of each fruit or vegetable is equal with each other.
6. The method, as recited in claim 1, wherein a proportion of the bacteria liquid of Lactobacillus acidophilus, the bacteria liquid of Bifidobactreium longum, the bacteria liquid of Lactobacillus delbrueckii subsp. bulgaricus, the bacteria liquid of Streptococcus thermophilus, the fruits and vegetables, and water is (2000\u02dc8000) ml:(2000\u02dc8000) ml:(2000\u02dc8000) ml:(2000\u02dc8000) ml:(1000\u02dc1500) kg: (1000\u02dc1500) kg,
7. The method, as recited in claim 1, wherein
the bacteria liquid of Lactobacillus acidophilus is prepared by a method comprising: fermenting and cultivating Lactobacillus acidophilus to obtain a fermented product, i.e., the bacteria liquid of Lactobacillus acidophilus, a fermenting temperature of the bacteria liquid of Lactobacillus acidophilus is 20\xb0 C.\u02dc41\xb0 C., and a fermenting period of the bacteria liquid of Lactobacillus acidophilus is 15 h\u02dc36 h;
the bacteria liquid of Bifidobactreium longum is prepared by a method comprising: fermenting and cultivating Bifidobactreium longum to obtain a fermented product, i.e., the bacteria liquid of Bifidobactreium longum, a fermenting temperature of the bacteria liquid of Bifidobactreium longum the is 20\xb0 C.\u02dc41\xb0 C., and a fermenting period of the bacteria liquid of Bifidobactreium longum is 15 h\u02dc36 h;
the bacteria liquid of Lactobacillus delbrueckii subsp. bulgaricus is prepared by a method comprising steps of: fermenting and cultivating Lactobacillus delbrueckii subsp. bulgaricus to obtain a fermented product, i.e., the bacteria liquid of Lactobacillus delbrueckii subsp. bulgaricus., a fermenting temperature of the bacteria liquid of Lactobacillus delbrueckii subsp. bulgaricus is 20\xb0 C.\u02dc41\xb0 C., and a fermenting period of the bacteria liquid of Lactobacillus delbrueckii subsp. bulgaricus is 15 h\u02dc36 h; and
the bacteria liquid of Streptococcus thermophilus is prepared by a method comprising steps of: fermenting and cultivating Streptococcus thermophilus to obtain a fermented product, i.e., the bacteria liquid of Streptococcus thermophilus, a fermenting temperature of the bacteria liquid of Streptococcus thermophilus is 20\xb0 C.\u02dc41\xb0 C., and a fermenting period is of the bacteria liquid of Streptococcus thermophilus 15 h\u02dc36 h.
8. The method, as recited in claim 1, wherein
the Lactobacillus acidophilus is preferably embodied as Lactobacillus acidophilus CGMCC 1.1854, the Bifidobactreium longum is preferably embodied as Bifidobactreium longum CGMCC 1.2186, the Lactobacillus delbrueckii subsp. bulgaricus is preferably embodied as Lactobacillus delbrueckii subsp. bulgaricus CGMCC 1.1480, and the Streptococcus thermophilus is preferably embodied as Streptococcus thermophilus CGMCC 1.2471.
9. The method, as recited in claim 2, further comprising: smashing the fruits and the vegetables into pieces of 40\u02dc50 meshes before the step of fermentation, filtering the fermentation product after the step of fermentation, collecting filtrate, processing ultrafiltration, and collecting liquid produced by the ultrafiltration, i.e. the fermentation broth of fruits and vegetables.
10. The method, as recited in claim 9, wherein the fruits and the vegetables refer to a mixture of 54 kinds of fruits and vegetables, which are
konjak, eggplant, asparagus, spinach, bean sprout, broccoli, cabbage, radish, cucumber, peas, red pepper, celery, scallion, garlic, grapes, grapefruit, watermelon, peach, tangerine, blue berry, sweet orange, banana, litchi, balsam pear, leek, pomegranate, pitaya, carrot, tomato, Chinese cabbage, parsley, bell pepper, lettuce, pear, ginger, taro, kidney bean, pumpkin, lotus root, cherry, kiwi fruit, plum, strawberry, fig, kumquat, mandarin orange, Nanguo pear, cantaloup, Hami melon, papaya, onion, mulberry, sugar beet, and lemon.
11. The method, as recited in claim 10, wherein mass of each fruit or vegetable is equal with each other.
12. The method, as recited in claim 11, wherein a proportion of the bacteria liquid of Lactobacillus acidophilus, the bacteria liquid of Bifidobactreium longum, the bacteria liquid of Lactobacillus delbrueckii subsp. bulgaricus, the bacteria liquid of Streptococcus thermophilus, the fruits and vegetables, and water is (2000\u02dc8000) ml:(2000\u02dc8000) ml:(2000\u02dc8000) ml:(2000\u02dc8000) ml:(1000\u02dc1500) kg:(1000\u02dc1500) kg,
13. The method, as recited in claim 12, wherein
the bacteria liquid of Lactobacillus acidophilus is prepared by a method comprising: fermenting and cultivating Lactobacillus acidophilus to obtain a fermented product, i.e., the bacteria liquid of Lactobacillus acidophilus, a fermenting temperature is 20\xb0 C.\u02dc41\xb0 C., and a fermenting period is 15 h\u02dc36 h;
the bacteria liquid of Bifidobactreium longum is prepared by a method comprising: fermenting and cultivating Bifidobactreium longum to obtain a fermented product, i.e., the bacteria liquid of Bifidobactreium longum, a fermenting temperature is 20\xb0 C.\u02dc41\xb0 C., and a fermenting period is 15 h\u02dc36 h;
the bacteria liquid of Lactobacillus delbrueckii subsp. bulgaricus is prepared by a method comprising steps of: fermenting and cultivating Lactobacillus delbrueckii subsp. bulgaricus to obtain a fermented product, i.e., the bacteria liquid of Lactobacillus delbrueckii subsp. bulgaricus., a fermenting temperature is 20\xb0 C.\u02dc41\xb0 C., and a fermenting period is 15 h\u02dc36 h; and
the bacteria liquid of Streptococcus thermophilus is prepared by a method comprising steps of: fermenting and cultivating Streptococcus thermophilus to obtain a fermented product, i.e., the bacteria liquid of Streptococcus thermophilus, a fermenting temperature is 20\xb0 C.\u02dc41\xb0 C., and a fermenting period is 15 h\u02dc36 h.
14. The method, as recited in claim 13, wherein
the Lactobacillus acidophilus is preferably embodied as Lactobacillus acidophilus CGMCC 1.1854, the Bifidobactreium longum is preferably embodied as Bifidobactreium longum CGMCC 1.2186, the Lactobacillus delbrueckii subsp. bulgaricus is preferably embodied as Lactobacillus delbrueckii subsp. bulgaricus CGMCC 1.1480, and the Streptococcus thermophilus is preferably embodied as Streptococcus thermophilus CGMCC 1.2471.
15. The method, as recited in claim 2, wherein the fermentation temperature is 18\xb0 C., 23\xb0 C., or 37\xb0 C., and the fermenting period is 10 days, 15 days, or 180 days.
16. The method, as recited in claim 6, wherein the proportion of the bacteria liquid of Lactobacillus acidophilus, the bacteria liquid of Bifidobactreium longum, the bacteria liquid of Lactobacillus delbrueckii subsp. bulgaricus, the bacteria liquid of Streptococcus thermophilus, the fruits and vegetables, and water is (2000, 5000, or 8000) ml:(2000, 5000, or 8000) ml:(2000, 5000, or 8000) ml:(2000, 5000, or 8000) ml:(1000, 1200, or 1500) kg:(1000, 1200, or 1500) kg.
17. The method, as recited in claim 7, wherein the fermenting temperature of the bacteria liquid of Lactobacillus acidophilus is 20\xb0 C., 37\xb0 C., or 41\xb0 C., the fermenting period of the bacteria liquid of Lactobacillus acidophilus is 15 h, 16 h, or 36 h, the fermenting temperature of the bacteria liquid of Bifidobactreium longum is 20\xb0 C., 37\xb0 C., or 41\xb0 C., and the fermenting period of the bacteria liquid of Bifidobactreium longum is 15 h, 16 h, or 36 h.
18. The method, as recited in claim 7, wherein the fermenting temperature of the bacteria liquid of Lactobacillus delbrueckii subsp. bulgaricus is 20\xb0 C., 37\xb0 C., or 41\xb0 C., the fermenting period of the bacteria liquid of Lactobacillus delbrueckii subsp. bulgaricus is 15 h, 16 h, or 36 h, the fermenting temperature of the bacteria liquid of Streptococcus thermophilus is 20\xb0 C., 37\xb0 C., or 41\xb0 C., and the fermenting period of the bacteria liquid of Streptococcus thermophilus is 15 h, 16 h, or 36 h.
19. The fermentation broth of fruits and vegetables prepared by the method, as recited in claim 1.
20. A method for improving immunity, reducing fatigue, strengthening spleen and stomach, orand removing chloasma, comprising: applying a therapeutically effective amount of the fermentation broth of fruits and vegetables, as recited in claim 19, or a medicinally acceptable salt thereof, to the mammal.

The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.

1. A system, comprising:
a first camera;
a second camera, the second camera having a higher resolution than the first camera; and
a processor communicatively coupled to the first camera and the second camera, the processor operable to:
determine a center coordinate of an udder of a dairy livestock based at least in part upon visual data captured by the first camera; and
determine a position of a teat of the dairy livestock based at least in part upon the center coordinate and visual data captured by the second camera.
2. The system of claim 1, wherein the position of the teat is relative to the center coordinate.
3. The system of claim 1, further comprising a memory communicatively coupled to the processor, the memory operable to store a plurality of coordinates comprising an x-coordinate, a y-coordinate, and a z-coordinate for each teat of the dairy livestock, wherein each coordinate is in relation to the center of the udder of the dairy livestock.
4. The system of claim 1, wherein the first camera is a three-dimensional camera and the second camera is a two-dimensional camera.
5. The system of claim 1, further comprising a tracker operable to track the rear of the dairy livestock relative to the rear of a milking stall.
6. The system of claim 5, further comprising an encoder communicatively coupled to the tracker and operable to determine a distance that the tracker moves.
7. A method, comprising:
determining a center coordinate of an udder of a dairy livestock based at least in part upon visual data captured by a first camera; and
determining a position of a teat of the dairy livestock based at least in part upon the center coordinate and visual data captured by a second camera, wherein the second camera has a higher resolution than the first camera.
8. The method of claim 7, wherein the position of the teat is relative to the center coordinate.
9. The method of claim 7, further comprising storing a plurality of coordinates comprising an x-coordinate, a y-coordinate, and a z-coordinate for each teat of the dairy livestock, wherein each coordinate is in relation to the center of the udder of the dairy livestock.
10. The method of claim 7, wherein the first camera is a three-dimensional camera and the second camera is a two-dimensional camera.
11. The method of claim 7, further comprising determining the position of the rear of the dairy livestock relative to the rear of a milking stall.
12. A system, comprising:
a memory; and
a processor communicatively coupled to the memory, the processor operable to:
determine a z-coordinate of a reference point of a teat of the diary livestock based at least in part upon stored coordinates of a dairy livestock and a current center coordinate of an udder of the dairy livestock;
determine an x-coordinate of the reference point based at least in part upon the stored coordinates and a displacement measurement of the diary livestock; and
determine a y-coordinate of the reference point based at least in part upon the stored coordinates.
13. The system of claim 12, further comprising a two-dimensional camera comprising a laser device, wherein the two-dimensional camera is communicatively coupled to the processor.
14. The system of claim 13, further comprising a robotic arm, wherein the two-dimensional camera is attached to the robotic arm.
15. The system of claim 14, wherein the processor is further operable to control the robotic arm to move to the reference point.
16. The system of claim 13, wherein the processor is further operable to:
determine a z-coordinate of the teat based at least in part upon visual data captured by the two-dimensional camera;
determine a y-coordinate of the teat based at least in part upon the visual data captured by the two-dimensional camera; and
determine an x-coordinate of the teat based at least in part upon the y-coordinate of the teat and the visual data captured by the two-dimensional camera.
17. The system of claim 16, wherein determining the y-coordinate comprises determining the tip of the teat.
18. The system of claim 16, wherein the visual data captured by the two-dimensional camera comprises a reflection of a laser emitted by the laser device.
19. The system of claim 18, wherein determining the x-coordinate comprises:
determining an angle based at least in part upon the laser; and
determining a distance of the teat from the camera based at least in part upon the angle and the y-coordinate of the teat.
20. The system of claim 12, further comprising a tracker operable to track the rear of the dairy livestock relative to the rear of a milking stall.
21. The system of claim 20, wherein the displacement measurement is based at least in part on the tracker.
22. A method comprising:
determining a z-coordinate of a reference point, using a processor, of a teat of the diary livestock based at least in part upon stored coordinates of a dairy livestock and a current center coordinate of an udder of the dairy livestock;
determining an x-coordinate of the reference point based at least in part upon the stored coordinates and a displacement measurement of the diary livestock; and
determining a y-coordinate of the reference point based at least in part upon the stored coordinates.
23. The method of claim 22, wherein the processor is communicatively coupled to a two-dimensional camera, the two-dimensional camera comprising a laser device.
24. The method of claim 23, wherein the two-dimensional camera is coupled to a robotic arm.
25. The method of claim 24, further comprising controlling a robotic arm to move to the reference point.
26. The method of claim 23, further comprising:
determining a z-coordinate of the teat based at least in part upon visual data captured by the two-dimensional camera;
determining a y-coordinate of the teat based at least in part upon the visual data captured by the two-dimensional camera; and
determining an x-coordinate of the teat based at least in part upon the z-coordinate of the teat and the visual data captured by the two-dimensional camera.
27. The method of claim 26, wherein determining the y-coordinate comprises determining the tip of the teat.
28. The system of claim 26, wherein the visual data captured by the two-dimensional camera comprises a reflection of a laser emitted by the laser device.
29. The method of claim 28, wherein determining the x-coordinate comprises:
determining an angle based at least in part upon the laser; and
determining a distance of the teat from the camera based at least in part upon the angle and the y-coordinate of the teat.
30. The method of claim 22, further comprising tracking, using a tracker, the rear of the dairy livestock relative to the rear of a milking stall.