ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

Due to unknown flesh and bone boundaries in the hind legs of sheep carcasses, variable size and visibility constraints, the robot autonomous segmentation accuracy is low and easy to be blocked. An adaptive segmentation control method was proposed for the hind legs of sheep carcasses, and the segmentation test of sheep carcass hind legs was carried out to verify it. The method was centred on contact state perception and effectively extracted contact type features, contact abnormality features and contact direction features. LSTM-FCN deep spatio-temporal neural network was constructed to identify contact types, constructing deep self-coding network to estimate contact anomalies, and using principal component analysis to detect the main contact directions to achieve multimodal sensing of contact states. The robot imitated and learned human manipulation skills through dynamic motion primitives, and incorporated contact state sensing information to achieve adaptive adjustment of joint motion. The experimental results showed that the recognition accuracy of LSTM-FCN model on the validation set of sheep carcass hind leg segmentation was 98.44%, with a high recognition accuracy. The DAE model can better estimate the contact anomalies of the validation set samples and distinguish different contact states. Robot conducted practical segmentation tests based on adaptive segmentation control method. Compared with the control group, the maximum segmentation force was decreased by 29N and the maximum torque was decreased by 7N·m, proving the effectiveness of the method. The average maximum residual meat thickness was 3.6mm, the average segmentation residual rate was 4.9%, and the segmentation residual rate showed a negative correlation with the quality of sheep carcasses. It proved that the method had good generalization and accuracy. And the overall segmentation effect was good, meeting the requirements of sheep carcass hind leg segmentation.