가변적인 계산시간지연에 의한 햅틱 시스템에서의 안정성 영향 분석

이경노,Lee, Kyungno 한국교통대학교 융복합기술연구소 2015 융ㆍ복합기술연구소 논문집 Vol.5 No.2

This paper presents the effects of the computational time-varying delay on the stability of the haptic system that includes a virtual wall and a first-order-hold method. The model of a haptic system includes a haptic device model with a mass and a damper, a virtual wall model, a first-order-hold model and a computational time-varying delay model. In this paper, the maximum of the computational time-varying delay is assumed to be as much as the sampling time. Using the simulation, it is analyzed how the sample-hold methods and the computational time-varying delay affect the maximum available stiffness. As the maximum of computational time-varying delay increases, the maximal available stiffness of a virtual wall model is reduced.

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.

韓國産 밤나무 혹벌의 變態에 따른 아미노酸에 關한 硏究

李敬魯 건국대학교 1965 學術誌 Vol.6 No.1

Amino acid compositions of the Ghestnut gall wasp (Dryocosmus kuriphilus YASUMATSU) were analysed qualitatively by means of two dimensional paper chromatography at various developmental stages. 1) The amino acids identified at each stages are as follows : prepupa stage: alanine, aspartic acid, cysteine, glutamic acid, glycine, histidine, leucine, lysine, methionine, phenylalanine, serine, threonine, tryptophan, tyrosine, and valine. Pupa stage : alanine, aspartic acid, cysteine, glutamic acid, histidine, leucine, lysine, methionine, phenylalanine, proline, serine, threonine, tryptophan, tyrosine, and valine. Adult stage : alanine, aspartic acid, cysteine, glutamic acid. glycine, histidine, leucine, methionine, phenylalanine, serine. threonine, tyrosine, and valine. 2) Trosine and methionine were increased in the pupal stage. 3) Lysine was detectable only in the alocholic extract. 4) Proline was clearly detected only in the pupal stage. 5) Arginine was undetected at the prepupa and the late pupal stage. 6) Tryptophan was detectable only in the acid-hydrolyzed. 7) Through the development there were large amounts of glycine, serine, tyrosine, methionine and valine.

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.

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.

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.

솔잎혹파리 유충 체액의 생화학적 변화

이경노,이종진 한국응용곤충학회 1976 한국응용곤충학회지 Vol.15 No.4

솔잎혹파리 (Thecodiplosis japonensis Uchi. et Inouye)의 충영속 유충과 충영을 탈출하여 낙하한 토중의 유충을 대상으로 체액을 분석, 측정코저 종이 크로마토그라피법, micro-Kjeldahl법, 박층 크로카토그라피 법, 왈부르그 검압계법, Bessey-Lowry법과 Reitman-Frankel법으로 측정 또는 분석하였다. 충영과 유충과 토중의 유충에 따라 유리 아미노산, 총 질소함량의 변화, 탄수화물의 변화, 지질의 종류와 변화, 호흡능, phosphatase, GOT, ?의 활성도가 측정되었다. 유리 아미노산, 총 질소함량, 지질함량, 호흡능, acid phosphatase의 황성, GPT의 활성은 충영속의 유충에서 토중의 유충으로 진행함에 따라 감소하는 경향을 나타냈다. 그러나 trehalose의 함량과 alkaline phosphatase의 활성은 증가하는 경향을 나타냈다. The concentration of amino acids, total nitrogen, trehalose, lipids and the activities of respiratory, acidalkaline phosphatase, glutamic oxalozcetic transaminase and glutamic pyruvic transaminase during larval stage in Pine leaf gall midge, Thecodiplosis janensis Uchi. et Inouye were measured using Paper chromatographic method, micro-Kjeldahl method, Thin layer chromatographic method, Warburg's manometric method, Bessey-Lowry method and Reitman-Frankel method, respectively. Healthy specimens )yore chosen as samples of each larval stages, alrva in gall and larva in soil. Amino acids present in the alcoholic extracts were alanine, glutamic acid, glycine, histidine, methionine, proline, threonine, tryptophan and valine. The total nitrogen concentration reached to 31.348mg/g during the larva in gall and the larval stage in soil of the value was decreased to 29.027mg/g. The hemolymph sugar, trehalose value for larva in soil was about two times of the value for larva in gall. Total lipid, phospholipid,monoacylglycerol, triacylglycerol, sterol, free fatty acid and ester cholesterol were identified at larval stages in gall and soil. Triacylglycerol concentration reached high level in contrast with other lipid contents during larvae in gall and larva in soil. Free fatty acid, sterol except decreased lipids during larval stage in soil. Endogenous respiration, succinate of respiratory activities decreased at larval stage in soil compare with larva in gall. The activities of acid phosphatase decreased larval stage in soil but the activities of alkaline phosphatase increased remarkably. The activities of glutamic oxaloacetic transaminase and glutamic pyruvic transaminase reached high level of the larva in gall

가상질량과 저주파통과필터에 의한 햅틱 시스템의 안정성 영역에 관한 연구

이경노,Lee, Kyungno 한국교통대학교 융복합기술연구소 2017 융ㆍ복합기술연구소 논문집 Vol.7 No.2

This paper presents the effects of a virtual mass with a low-pass filter on the stability boundary of a virtual spring in the haptic system. In general, a haptic system consists of a haptic device, a sampler, a virtual impedance model and zero-order-hold. The virtual impedance is modeled as a virtual spring and a virtual mass. However the high-frequency noise due to the sampling time and the quantization error of sampled data may be generated when an acceleration is measured to compute the inertia force of the virtual mass. So a low-pass filter is needed to prevent the unstable behavior due to the high-frequency noise. A finite impulse response (FIR) filter is added to the measurement process of the acceleration and the effects on the haptic stability are simulated. According to the virtual mass with the FIR filter and the sampling time, the stability boundary of the virtual spring is analyzed through the simulation. The maximum available stiffness to guarantee the stable behavior is reduced, but simulation results still show that the stability boundary of the haptic system with the virtual mass is larger than that of the haptic system without the virtual mass.