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POLICY & ISSUES 기획특집_2 - 유해화학물질 사고사례를 통해 본 화학물질관리의 현실
윤준헌,Yun, Jun-Heon 환경보전협회 2013 환경정보 Vol.405 No.-
환경오염사고는 대부분이 화학물질과 관련되어 있다. 화학물질사고는 갑자기 일어나는 것처럼 보이지만, 내면을 보면 대부분의 사고는 오랫동안 반복적인 작업이 진행되면서 느슨해진 안전관리와 관리부실 때문에 일어난다.
모바일 매니퓰레이터 시뮬레이션을 위한 로봇 물리 엔진의 성능 평가
이관우,윤준헌,박수한,박재흥 한국로봇학회 2024 로봇학회 논문지 Vol.19 No.1
A mobile manipulator is capable of handling a wide range of workspaces by overcoming the limitations of mobility inherent in existing fixed-base manipulators. To simulate the mobile manipulator, two contact operations should be considered in the physics engines. One of these operations is the grasp stability between the gripper and the object, while the other involves the contact between the wheels of the mobile robot and the ground during driving. However, it is still difficult to choose an appropriate physics engine for simulating these contact operations of the mobile manipulator. In this paper, the performance of physics engines for simulating the mobile manipulator is evaluated. Firstly, the grasp stability of the physics engine is quantitatively evaluated based on the contact force discontinuity. Secondly, when the mobile robot is controlled by open or closed-loop control methods, differences in the path taken by the mobile robot depending on the physics engine are analyzed. To assess the performance of robot simulation, three dynamic simulators—MuJoCo, CoppeliaSim, and IsaacSim—are used along with five physics engines: MuJoCo, Newton, ODE, Bullet, and PhysX.