일차-홀드 방법이 가상 질량-스프링 모델의 안정성 영역에 미치는 영향에 대한 연구

이경노,Lee, Kyungno 한국교통대학교 융복합기술연구소 2020 융ㆍ복합기술연구소 논문집 Vol.10 No.1

This paper presents the effects of a virtual mass on the stability boundary of a virtual spring in the haptic system with first-order-hold. The virtual rigid body is modeled as a virtual spring and a virtual mass. When first-order-hold is applied, we analyze the stability boundary of the virtual spring through the simulation according to the virtual mass and the sampling time. As the virtual mass increases, the stability boundary of the virtual spring gradually increases and then decreases after reaching the maximum value. The results are compared with the stability boundary in the haptic system with zero-order-hold. When a virtual mass is small, the stability boundary of a virtual spring in the system with first-order-hold is larger than that in the system with zero-order-hold.

밤나무 혹벌의 生物學的 防除 : 有力天敵의 生活史와 그의 增殖 Propagation and Life Cycle of the Natural Enemies in Gall Wasp

李敬魯,金學烈 건국대학교 1970 學術誌 Vol.11 No.1

In the present studies, attempts have been made from the standpoint of biological control, to selected an effective natural enemies. The made inquiry into rate of parasitism and emergence curve of the parasitic wasps and propagation, life cycle of the parasitic wasps on the chestnut gall wasp Dryocosmus kuriphilus Yasumatsu. The results are summarized as follows : ① The effective natural enemies on the chestnut gall wasp selected various group of parasitic wasps and flies that this specifiic name are Torymus eleganturus, Megastigmus maculipennis Ormyrus nigritbialis and Diptera sp. ② The natural enemies appears about 15 days earlier than their host gall wasp and about 25th of June, 75% of all the group of parasitic wasps and flies has been emerged. ③ On the supposition that the life cycle of the effective natural enemies. Torymus eleganturus and Megastigmus mamaculipennis of the chestnat gall wasp was as shown in 〈Fig.2〉. ④ The composition of the media used breed artifically for natural enemies and longevity of an effective natural enemies fed on medium of artifical after normal emergence was presented in 〈Table 2〉 and 〈Table 6〉, respectivelly. Especially, media A group suitable for breed artifically of the Torymus eleganturus and Diptera sp.

흰불나방의 변태에 따른 성훼로몬에 관한 연구

이경노,박면용,고진복,이종진,지영득 한국곤충학회 1978 Korean journal of entomology Vol.8 No.2

흰불나방 (Hyphantria cunea Drury)의 변태에 따른 생리적 기초조사로서 총단백질, 비단백성질소, 아미노산, 지질, 지방산, trehalose, 무기염류와 호흡능의 활성도를 측정한 결과와 암컷에서 성유인물질인 성훼로몬을 분리동정한 결과는 다음과 같다. 1. 총단백질 함량은 용2일까지 증가하다가 용6일에 최고의 함량을 나타냈으며 성장하면서 감소하였다. 배단백성질소는 용4일에서 가장 높은 함량을 나타낸다. 2. 아미노산은 전변태기에서 17종이 동정되었으며 우화성충에서 가장 낮은 함량을 나타냈다. 3. 지질은 린지질, monoacylglycerol, sterol 유이지방산, triacylglycerol, ester cholesterol이 분리되었으며 총지질 함량은 용 2일까지 증가하다가 용 4일에서 감소하였으며 용 10일로 성장하면서 다시 증가하였다. 4. 지방산은 stearic acid, palmitic acid, myristic acid, linoleic acid, oleic acid가 검출되었으며, 용중기까지는 stearic acid가, 용기말과 성충 암.수에서는 myristic acid가 높은 함량을 나타냈다. 5. Trehalose는 용기에서 감소하다가 우화성충에서 급격히 증가하여 최고 함량을 나타냈다. 6. 무기염류는 calciun, lithium, phosphorus, potassium, sodium이 측정되었으며 potassium이 가장 높은 함량을 나타냈고 calcium, potassium, phosphorus는 변태기에 따라 U자형 생리곡선의 변화를 나타냈다. 7. 호습능은 성충 암컷에서 가장 높은 활성도를 나타냈다. 8. 성유인물질인 성훼로몬은 n-tetradecane과 1-tetradecanol 계통 물질로 분리 동정되었다. The concentration of total protein and non-protein nitrogen, amino acids, lipid, fatty acid. trehalose and respiratory activity as fundamental of physiological investigation and isolation and identification of the female sex pheromone doling the metamorphosis of the fall webworm, Hyhantria cunea Drury were measured using micro-Kjeldahl method, Auto amino acid analyzer's method, Thin layer chromatographic method, Gas chromatographic method, Ash method and Warburg's manometric method. The total protein concentration increased gradually at the two days pupal stage and in the six days pupal stage the concentration reached a maximum. The non-protein nitrogen concentration at the four days pupal stage was maximum. The amino acids identified at each stages are alanine, arginine, aspartic acid, glutamic acid, glycine, histidine, isoleucine, leucine, lysine, methionine, ornithine, phenylalanine, proline, serine, threonine, tyrosine and valine. The amino acid concentration at newly emerged adult stage was minmum. Phospholipid, monoacylglycerol, sterol, free fatty acid, triacylglycerol and ester cholesterol were identified at each stages. Triacylglycerol was increased until the two days pupa, decreased at the four days pupal stage, and increased again the ten days pupal stage. The fatty acid identified at all stages are stearic acid, palmitic acid, myristic acid, linoleic acid and oleic acid. Through the development of the fall webworm, there were large amount of stearic and myristic acid. The trehalose concentration decreased at the pupal stage and increased at newly emerged adult stage the reached a maximum. The mineral salts present are calcium, lithium, phosphorus, potassium and sodium identified at each stages. The mineral salts concentration through the course of the physioloical cycle form a U-shaped curve when graphed against the metamorphosis The respiratory activity was very high at the female adult stage. The female sex pheromone has been isolated and identified similarly as n-tetradecane and 1 -tetradecanol

다 개체 이동 로봇의 협동 제어

이경노,이두용 제어로봇시스템학회 1997 제어로봇시스템학회 국내학술대회 논문집 Vol.1997 No.10

이화명충의 변태에 따른 혈림프의 변화

이경노,고진복,이종진 한국곤충학회 1976 Korean journal of entomology Vol.6 No.2

The concentration of total protein and non-protein nitrogen, whole body protein patterns, trehalose, lipids and the activities of acid. alkaline phosphatase, glutamic pyruvic transaminase, glutamic oxaloacetic transaminase and succinic acid dehydrogenase and mineral salts during the metamorphosis of the rice stem borer, Chilo suppressalis Walkerwere measured using micro-Kjeldahl method, polyacrylamide gel electrophoresis method, gas chromatographic method, thin layer chromatographic method, Warburg's manometric method, King's method, Reitman's method and Thunberg's method, Schneider methods, respectively. Healthy specimens were choson as samples of each developmental stages: the final instar larva, the newly molted pupa, pupa at 2, 4, 6, 8, and 10 days, newly emerged adult and adults. The total protein concentration decreased gradually until the two day pupa and increased at four day pupa. In the final instar larval stage, the newly emerged adult and two day adult stage the concentration reached a maximum. The non-protein nitrogen concentration increased gradually until the newly netted pupa and decreased at the two day pupa. The protein bands were numbered 1-14 according to their mobilities. A total of 14 protein patterns were detectable on the electrophorograms of whole body homogenates. Each developmental stage qualitative differences in the protein bands. In general, the protein bands were increased with the growth of larva, decreased at newly molted pupal stage, and at pupal and adults stages, were increased gradually, again. The hemolymph trehalose concentration decreased gradually until the four day pupa and increased at the six day pupa. In the last instar larval stage and the newly emerged adult stage the concentration reached a maximum. Phospholipid, monoacylglycerol, diacylglycerol, triacylglycerol, free cholesterol and ester cholesterol were identified at each statges. Triacyglycerol at the final instar larva the concentration reached maximum. Triacylglycerol decreased gradually until prepupa, two days pupa, four and six days pupa and increased at eight days pupal stage. Endogenous respiration was very high at the two day pupal stage, decreased at the six day pupa, and was followed by an increase at the late pupal stages. Succinate in the respiratory substrate increased respiratory activity in all stages and had a'striking influence on both the late pupal stage and the adult. The activities of acid phosphatase generally increased until the two day pupa and decreased at the four day Pupal stage and at eight day pupa and newly emerged adult stages they were increased again. The activity of alkaline phosphatase is by far lower 1.han that of acid phosphatase. And in the throughout all stages there no significant differences between both control and treatments group of alkaline phosphatase. The activities of glutamic pyruvic transaminase and glutamic oxaloacetic transaminase decreased gradually from final instar larva until the ten day pupal stage and increased at newly emerged adult stage. The activity of succinic acid dehydrogenase decreased gradually until the six day pupa and increased at eight day pupal stage. In the final instar larva stage and the two day adult stage the activities reached a maximum. The mineral salts present are calcium, phosphorus, potassium, sodium and lithium identified at each stages. Hence, changes in total protein concentration, protein patterns, trehalose, lipids, mineral salts, acid-alkaline phosphatase activity, activities of glutamic pyruvic transaminase, glutamic oxaloacetic transaminase and succinic acid dehydrogenase through the course of the physiological cycle form a U-shaped curve when graphed against the histolysis of larval organs and the histogensis of adult organs. From a control point of view, the U-shaped pattern of physiological activity indicates that control will be most effective at the time of physiological weakness during the four day pupal stage. 이화명충(Chilo suppressalis Walker)의 변태에 따른 총단백질, 비단백성실소, 혈단백질, 트리하로오스 지질, 무기염류의 분석 결과와 호흡능, 호흡효소, 효소의 활성을 측정하여 형태적 변화와 비교한 결과는 다음과 같다. 1) 총단백질함량은 용 2일까지 감소하다가 용 4일에서 증가하였고, 종령유충과 성충 2일에서 가장 높게 나타났다. 비단백성실소는 성충 2일에서 가장 높은 농도를 나타냈다. 2) 혈단백질함량은 종령유충과 용 4일에서 가장 높았다. 혈단백질 패턴의 밴드는 종령유충에서 14, 전용에서 7, 용 4일에 9, 용 10일에 9, 우화성충에서 11개가 분이되 변화를 나타냈다. 3) 트리하로오스의 함량은 용 4일에서 낮았고 용화하면서 감소하다가 용기말에서 증가하였다. 4) 지질은 린지질, 모노ㆍ디ㆍ트리아실글리세롤, 콜레스테롤이 분이되었고 트리아실글리세롤이 가장 높아 변태기에 따라 U자형 생리곡선을 나타났다. 5) 호흡능의 변화는 대소양, 숙신산은 성충에서 가장 높았고 용 2일에서 감소하다가 용기말에서 다시 증가하여 숙신산 수소이탈효소의 활성과 비슷한 U자형 생리곡선을 나타냈다. 6) phosphatase의 활성은 acid phosphatase는 용 2일까지 증가하다가 용 4일에서 감소하고 용기말과 우화성충에서 증가하였다. alkaline phosphatase의 활성은 용화하면서 성충에 이르기까지 활성이 감소하였다. transaminase(GOT, GPT)의 활성은 변태에 따라 U자형 생리곡선을 나타냈다. 7) 무기염류의 함량 변화는 용기말에서 증가하여 성충에서 가장 높게 나타났다. 이상의 결과로 혈림프의 성분과 함량의 변화 그리고 효소의 활성변화는 변태에 따라 생리곡선인 U자형 변화를 나타내어 유충기관의 해소와 성충기관의 신생인 형태적 변화와 일치한다. 이는 생리적 쇠약기와 해충방제의 최적기를 구명하는 기초자료가 된다.

화랑곡나방의 變態에 따른 트리하로오스의 變化

李敬魯 建國大學校基礎科學硏究所 1983 理學論集 Vol.8 No.-

Changes in trehalose concentration in the whole body during metamorphosis of the Indian meal moth Plodia interpunctella Hubner was measured by using Anthrone method and Thin layer chromatography method. Healthy specimens were chosen as samples at each developmental stages : 2nd instar larva, 3rd instar larva, 5th instar larva, final instar larva, newly molted pupa, pupa 3,5,7,9 days and adult 1 day. The trehalose concentration increased gradually at the larval stages and decreased at the pupal stages. In the 5th instar larvae in the larval stages and the three day pupae in the pupal stages the concentration reached the maximum. During the development of the Indian meal moth, at the three day pupal stage the concentration reached the maximum. Changes in the trehalose concentration in the pupal stages through the course of the phy-siological cycle formed a U-shaped curve when graphed against the histolysis of larval organs and the histogenesis of adult organs. From the control point of view, the U-shaped pattern of physiological activity indicates that control will be the most effective at the time of physiological weekness during the five day pupal stage.

감압 효소 침투에 의한 표피의 광범위 분리

장충현,이두형,홍성표,박재경,이경노 大韓成形外科學會 1993 Archives of Plastic Surgery Vol.20 No.1

Previously, a new method of negative-pressure-assisted DISPASE splitting into various thicknesses and sizes of surgically obtained human or animal skins into the epidermal and dermal layers was invented. Good penetration of the enzyme into the skin tissue was obtained by applying negative pressure in a liposuction apparatus and then rapidly aerating the skin tissue to the room air pressure when the pressure pushed the enzyme solution deep into dermal tissue. The procedure was repeated every 3 minutes under 750mmHg negative pressure assisted dispase(100IU/ml). The earist time for separation of the viable epidermal sheet was measured. Negative pressure(-750mmHg), numbers of repeat(7times), incubation time(37℃,25mins)were the factors for the earlist separation of the epidermal sheet. We suggested that this was a good method for the treatment of tattoos and nevus. Advantages were that the donor site morbidity was less and the time required for healing of the wound was markedly shortened.

하악골의 시상분열 절골술에 대한 술후 추적관찰

김석권,김주헌,정영하,이경노 大韓成形外科學會 1996 Archives of Plastic Surgery Vol.23 No.6

The most important factor in the beauty of the chin is the harmony of the facial skeleton and soft tissue. The surgery of the chin has the special role in plastic surgery of its importance in facial aesthetics in consideration of asymmetry, unbalance and disharmony. The goal of surgical treatment of mandibular prognathism with asymmetry is to achieve maximum function, aesthetics and stability. From November 1991 to August 1995, we have performed 26 cases of sagittal split ramus osteotomies successfully. Then we studied in 21 patients with regarding change of sensibility, maximal mouth opening, and amount of relapse, from 1 year to 4 years postoperatively. Our operative technique was unique and effective for splitting of mandibular ramus as follows. At first, medial cortical osteotomy above the 1cm level of the mandibular foramen using guarded reciprocating saw was done. Next, vertical cut through the lateral cortex in the region of the second molar teeth followed by osteotomy on the upper border between the previous two osteotomy region were done. Then sagittal splitting of the ramus with curved osteotome was completed. After that, three lag screw fixation with good dental occusion supported by intermaxillary fixation was done. We achieved satisfactory results. Change of sensibility was 57.1% subjectively & 23.8% objectively at 2 years later. Recovery of maximal mouth opening was 86% at 3 months and nearly recovered as 97% at 6 months postoperatively. Amount of relapse was 1.8mm at 2 years postoperatively. And that, our patients were satisfied with good chin contouring and dental occlusion.

韓國産 밤나무 혹벌의 變態에 따른 呼吸量의 消長關係에 對하여

李敬魯 건국대학교 1967 學術誌 Vol.8 No.1

Changes in respiratory activities according to the respiratory substrate as compared with normal endogenous respiration at various developmental stages in chestnut gall wasp(Drycosmus kuriphilus YASUMATSU) and chestnut gall (Catanea crenata SIEBOLD & ZUCCARINI) were measured by manometric methods. Succinate exhibited greater activity than normal endogenous respiration in the end of pupal life. The variation of respiratory activity is in agreemet with that morphological characters to histolysis and histogenesis during metamorphosis.

방제기를 위한 원격 컨트롤러의 사용자 인터페이스 설계

이경노,임준근,이민영,김주한,이혁수 제어로봇시스템학회 2019 제어로봇시스템학회 국내학술대회 논문집 Vol.2019 No.5