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N-R과 EKF방법의 로봇비젼제어기법을 활용한 강체배치작업
홍성문(Sung Mun Hong),장완식(Wan Shik Jang),손재경(Jae Kyung Son),김재명(Jae Myung Kim),박득준(Deuk Joon Park) 대한기계학회 2013 대한기계학회 춘추학술대회 Vol.2013 No.12
This paper is to develop the robot vision control schemes based on Newton-Raphson(N-R) and Extended Kalman filtering(EKF) methods for the rigid body placement task. The N-R vision control scheme consists of vision system model, camera parameters estimation model and robot’s joint angle estimation model. The EKF vision control scheme consists of vision system model, process model and measurement model. In the EKF, the process and the measurement models include the camera parameters estimation model and the robot’s joint angle estimation model, respectively. The vision system model includes six camera internal and external parameters. The N-R scheme is based on iterative technique. Thus, this method requires a lot of processing thime due to large amount of vision data. The EKF scheme is based on recursive technique, but it requires very accurate selection of initial values. Finally, the results of two vision control schemes are compared by performing the rigid body placement task experimentally.
이동물체 추적을 위한 N-R과 EKF방법의 로봇비젼제어기법
홍성문(Sung Mun Hong),장완식(Wan Shik Jang),김재명(Jae Myung Kim),정재성(Jae Sung Jung) 대한기계학회 2013 대한기계학회 춘추학술대회 Vol.2013 No.12
This paper is to develop the robot vision control schemes based on Newton-Raphson(N-R) and Extended Kalman filtering(EKF) methods for the rigid body placement task. The N-R vision control scheme consists of vision system model, camera parameters estimation model and robot’s joint angle estimation model. The EKF vision control scheme consists of vision system model, process model and measurement model. In the EKF, the process and the measurement models include the camera parameters estimation model and the robot’s joint angle estimation model, respectively. The vision system model includes six camera internal and external parameters. The N-R scheme is based on iterative technique. Thus, this method requires a lot of processing thime due to large amount of vision data. The EKF scheme is based on recursive technique, but it requires very accurate selection of initial values. Finally, the results of two vision control schemes are compared by performing the rigid body placement task experimentally.
이동 타겟 추적을 위한 N-R과 EKF방법의 로봇비젼제어기법에 관한 연구
홍성문(Sung-Mun Hong),장완식(Wan-Shik Jang),김재명(Jae-Meung Kim) 한국생산제조학회 2014 한국생산제조학회지 Vol.23 No.5
This paper presents the robot vision control schemes based on the Newton-Raphson (N-R) and the Extended Kalman Filter (EKF) methods for the tracking of moving targets. The vision system model used in this study involves the six camera parameters. The difference is that refers to the uncertainty of the camera’s orientation and focal length, and refers to the unknown relative position between the camera and the robot. Both N-R and EKF methods are employed towards the estimation of the six camera parameters. Based on the these six parameters estimated using three cameras, the robot’s joint angles are computed with respect to the moving targets, using both N-R and EKF methods. The two robot vision control schemes are tested by tracking the moving target experimentally. Given the experimental results, the two robot control schemes are compared in order to evaluate their strengths and weaknesses.
문홍성(Hong-Sung Mun),정지현(Ji-Hyun Jeong),김민경(MinKyoung Kim) 한국농업경제학회 2020 農業經濟硏究 Vol.61 No.1
The retail prices of meat products were often reported to be not responding appropriately to changes in producer prices, which would provide the impetus to analyze asymmetric price behaviors for various livestock products. This study examined the asymmetric price transmissions of domestic Korean beef, pork, chicken and egg products in marketing channel (from production to retail markets) by using both autoregressive distributed lag and asymmetric error correction models. Both daily and monthly prices were used to investigate whether there is any difference between daily and monthly price behaviors. In addition, influential livestock diseases such as FMD and HPAI were considered in the models to isolate the impacts of the disease on the prices. Asymmetric price transmissions were found for daily prices of products in all market relations, while such asymmetry was not detected for the products that use monthly prices. The existence of asymmetric price transmissions indicates that there are inefficient resource allocations, calling for efforts of all involved parties to improve meat product market efficiency.
문홍성(Hong-Sung Mun),이용건(Yong Geon Lee),이형우(Hyungwoo Lee),장재봉(Jae Bong Chang) 한국농업경제학회 2020 農業經濟硏究 Vol.61 No.3
Price transmission along the marketing channels is a longstanding and important issues in agricultural marketing. In recent years, this issue has become more important and complex given that grocery retailing is getting increasingly concentrated and retailers’ behavior may have more significant implications for producers and consumers. To address this issue, this study investigates the existence of price asymmetry between wholesale and two retail distribution channels (mass merchandise and butcher shop) prices of pork in Korea. Autoregressive distributed lag and asymmetric error correction models were estimated to analyze wholesale-retail price transmission using domestic and imported pork price daily data from January 2017 to March 2020. Asymmetry is tested both for the sum of price adjustments and the speed of price adjustments. Results show that traditional market prices respond similarity to wholesale price decreases and increases both in the short- and long-term relationship. In the short-term relationship, positive asymmetric price transmission was found in mass merchandise retailers. Overall, our results indicate that there is significant difference between traditional market (butcher shop) and mass merchandise retailers’ response to wholesale price and the pork market is inefficient.