비선형 변환제어에 의한 3자유도 수직 다관절 로봇의 제어

양창일,백윤수,Yang, Chang-Il,Baek, Yun-Su 대한기계학회 1997 大韓機械學會論文集A Vol.21 No.11

Mathematical models of industrial robots or manipulators are highly nonlinear equations with nonlinear coupling between the variables of motion. As the working speed has been fast, the effects of nonlinear terms have become serious. So the control algorithm based on approximately linearized equation looses the efficiency. In order to design the control law for the nonlinear models, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory in this study. Nonlinear terms of the system are eliminated and coupled terms are decoupled by this feedback law. This method is applied to a 3-D.O.F. vertical articulated manipulator by both experiments and simulations and compared with PID control which is widely used in the industry.

비선형 되먹임 제어의 계수 결정에 관한 연구 ( A Study on the Decision of Coefficients for Nonlinear Feedback Control )

양창일,백윤수,김호룡 대한기계학회 1994 대한기계학회 춘추학술대회 Vol.- No.-

Effect of $\varepsilon$-Fructoselysine on the Activity of Disaccharidas in Rat Small Intestine

양창일,Yang, Chang-II 생화학분자생물학회 1979 한국생화학회지 Vol.12 No.1

$\varepsilon$-fructoselysine이 백서 소장내 disaccharidase에 미치는 영양을 in vivo 및 in vtro계에서 연구하였다. $\varepsilon$-fructoselysine은 ($37^{\circ}C{\pm}0.5$, R.H. $70{\pm}3%$) 10g의 milk casein과 1.6g의 포도당을 비교적 완화한 조건하에서 얻은 갈변 casein으로부터 분리되어 합성 표준품과(Rf 0.23) 비교하여 그 순도를 확인 하였다. 5% $\varepsilon$-fructoselysine 식이를 투여하여 시험한 군이 백서의 Disaccharidase의 활성 시험에서 현저하게 감소되었다. in vitro에서의$\varepsilon$-fructoselysine의 maltase 활성에 관한 길항작용의 형식은 경쟁적 길항효과를 나타내었다($K_i=3.6\;mol$). 갈변 casein식이를 성장 백서에 투여 사육한 실험에서 세시간후에 나타난 L-lysine과 $\varepsilon$-fructoselysine은 일곱시간후에는 L-lysine이 사라지고 $\varepsilon$-fructoselysine은 소장내강에서 흡수되지 못하고 가수분해도 않되어 축적되는 물질로 상기한 억제효과에 큰 몫을 준다. Effect of $\varepsilon$-fructoselysine on the activity of disaccharidase in the small intestine of male albino rats in vivo and in vitro systems was investigated. $\varepsilon$-fructoselysine (Amadori compound, 1-deoxy-1-(-N-L-lysino)-D-fructose) was prepared from. browned casein which was formed 10g of milk casein and 1.6g of glucose under relatively mild conditions ($37^{\circ}C{\pm}0.5$, R.H. $70{\pm}3%$), and its purity was confirmed with the synthetic standard (Rf value, 0.23). Disaccharidase activities in the rats fed 5% $\varepsilon$-fructoselysine diet were proved to be significantly reduced. Using a model system ($\varepsilon$-fructoselysine), the in vitro study on the mode of inhibitory effect on maltase activity revealed that the comopund showed a competitive inhibitory effect (Ki=3.6mo1). When browned casein (condition mentioned above) was ingested by growing rats, $\varepsilon$-fructo selysine which was found after 3 hr, was remained from the intestinal TCA-soluble fraction, but L-lysine disappeared after 7 hr from this result, $\varepsilon$-fructoselysine which remained as an absorption-delayed material in the small intestinal lumen is responsible for its inhibitory effect.

저온(低溫) 산분해(酸分解)에 관한 연구 : Part I : Hydrolysis of starch cakes cellulose 제일보 : 전분박섬유소의 가수분해(加水分解)

양창일 제주대학교 1970 논문집 Vol.2 No.-

The comparative test on hydrolysis of starch cakes' cellulose which is cooked on hot rollers and dried on air, respectively, was carried out by a gaseous transport method in the range of -20 to 20℃. The most optimum temperature and water content of the hydrolysis were measured. Liquid CO₂of starch cakes' cellulose was sprayed throught an internal single pipe for the effective evolving of successfully existing reactive heat between Hydrochloric acid and cellulose. The results were determined by the cellulose quantitative method.

黑珊瑚의 化學成分에 關한 硏究

梁昌日 제주대학교 1972 논문집 Vol.4 No.-

濟州道 연안에서 採取된 黑珊瑚의 化學的成分과 色素를 硏究한 結果는 다음과 같다. ① 黑珊瑚의 主成分은 非石灰質로 大部分 蛋白質性 有機物로 存在하며 外皮와 中膠의 成分은 比較的 相異한 成分과 組成을 이룬다. 特히 中膠에는 Cornein이 主成分으로 72.04%를 外皮에는 Keratin이 主成分으로 52.7% 含有하였다. ② Cornein은 蛋白質의 呈色反應에 모두 陽性이고 L-3.5-Diiodotyrosine을 含有하였다. ③ 脂肪酸은 Palmitic acid였다. ④ 無機質은 Ca을 主抽으로 하여 CaO로서 外皮에 28%를 中膠에 12.5%를 含有하였다. ⑤ 非蛋白態窒素가 比較的 많으며 外皮에 8.5% 中膠에 13.12%였다. ⑥ 黑色素는 Melanin 色素이었다. The chemical components in black coral catched by a diver during the summer 1971, form deep sea in about 30 meters around the near shore, Daejeong-Up, Jeju-Do, Korea. The results obtained were as follows : 1) Main component of black coral is not calcareous but is organic substances mainly composed of 72.04% cornein in endoplasm and 52.70% keratin in epithelial layer. 2) Cornein responded positively to several tests of color reactions due to protein. It contained L-3, 5-Diiodotyrosine, a peculiar amino acid. 3) The extracted substance of the black coral with ether and petroleum ether is almost identified as palmitic acid. 4) Minor constituent contained in the epithelial layer and endoplasm of it is Calcium. The percentage of Calcium as CaO showed 38.0% and 12.5%, respectively. 5) The Nitrogen content as non-protein is 8.5% and 13.5%, respectively. 6) The color constituent of it is not reported, but the identification of melanin pigment is given.

逆流抽出 및 等電沈澱에 의한 油菜粕 蛋白質의 分離

梁昌日(Chang-Il Yang),高正三(Jeong-Sam Koh),金啓植(Kye-Sic Kim) 한국식품과학회 1978 한국식품과학회지 Vol.10 No.2

비선형 되먹임 제어의 수평암 매니퓰레이터에 대한 적용

양창일,백윤수,김호룡 연세대학교 산업기술연구소 1994 논문집 Vol.26 No.1

As the working speed of the manipulator has been fast, the effect of nonlinear forces has become serious. So more improvement of performance cannot be expected by the control of manipulator using approximate linearization. As an approach for solving these problems, there is a method that eliminates nonlinear terms by feedback law. On the basis of this method, the nonlinear control theory makes possible decoupling of coupling terms and arbitrary arranging of poles. The control law is applied to a basic industrial robot which has been used in the field needed for high accuracy. By simulating position, velocity, torque and tracing trajectory, it can be concluded that the control results are reasonable. The relations between the coefficients of the linearized differential equations and the maximum error and torque for prescribed trajectory are also examined. Finally, the method for selecting the values for getting the most rapid and precise response within maximum torque of each drive is suggested in the choice of coefficients of characteristic equations obtained as a result of the control.

ε - Fructoselysine 이 백서 소장내 Disaccharidase 의 활성에 미치는 영향

양창일 ( Chang Il Yang ) 생화학분자생물학회 1979 BMB Reports Vol.12 No.1

Effect of ε-fructoselysine on the activity of disaccharidase in the small intestine of male albino rats in vivo and in vitro systems was investigated. ε-Fructoselysine (Amadori compound, 1-deoxy-l-(-N-L-lysino)-D-fructose) was prepared from. browned casein which was formed 10g of milk casein and 1.6g of glucose under relatively mild conditions (37℃±0.5, R.H. 70±3%), and its purity was confirmed with the synthetic standard (Rf value, 0.23). Disaccharidase activities in the rats fed 5% ε-fructoselysine diet were proved to be significantly reduced. Using a model system (ε-iructoselysine), the in vitro study on the mode of inhibitory effect on maltase activity revealed that the comopund showed a competitive inhibitory effect (Ki=3.6mo1). When browned casein (condition mentioned above) was ingested by growing rats, ε-fructo selysine which was found after 3 hr, was remained from the intestinal TCA-soluble fraction, but L-lysine disappeared after 7hr from this result, ε-fructoselysine which remained as an absorption-delayed material in the small intestinal lumen is responsible for its inhibitory effect.

알긴酸에 關한 硏究(第四報) : Condensation of Alginic Acid in Vitro 시험관내에서의 알긴酸 縮合

梁昌日 제주대학교 1975 논문집 Vol.7 No.-

Ⅱ vitro에서의 알긴酸의 合成試驗을 시도한 結果는 다음과 같다. 알긴酸의 縮合反應을 生物體外에서 시행하였다. 알긴酸 殘基에 低級 알긴酸소-다의 첨가를 受容體로 하였을때 보다 높은 粘性分子가 生成되었다. 따라서 原藻에서 알긴酸소-다를 抽出할때는 미리 製品化된 알긴酸소-다 一定量을 첨가함이 高粘性 製品을 生成함에 있어 바람직 하다. The condensation reaction was demonstrated outside the living cell. The addition of lower sodium alginate as acceptor for alginic acid residue initiated the formation of a more highly viscous molecule. The primer molecule(sodium alginate residue) was necessary to allow the attachment of lower alginic acid in alkaline catalyst.

Studies on the Nutritional Quality of Rapeseed Protein Isolates

Chang Il Yang(梁昌日) 한국식품과학회 1980 한국식품과학회지 Vol.12 No.2