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유동영,김웅석,양해원 한양대학교 공학기술연구소 1992 공학기술논문집 Vol.1 No.1
Adaptive hybrid position/force controller for constrained manipulator with uncer dynamic model parameters and environment stiffness is presented. In this paper, the complia frame model is constructed by independent positions and forces to be controlled. The adap controller based on this compliance frame dynamic model is designed. Lyapunov theory is u for contoller design and stability analysis.
최정식,여성문,김웅석,채권석,Choi, Chung-Sik,Yoe, Sung-Moon,Kim, Eung-Seok,Chae, Kwon-Seok,Kim, Hak R. The Korean Society for Integrative Biology 1997 Korean journal of biological sciences Vol.1 No.3
Antibacterial activity was induced in the haemolymph of the common cutworm, Spodoptera litura by the artificial injection of E, coli Ek132. Antibacterial peptides were purified from the immunized haemolymph by heat treatment, ion-exchange chromatography, gel filtration chromatography, and reverse phase FPLC, and their physicochemical characteristics were investigated. These purified antibacterial peptides designated as spodopsin la and Ib were named after Spodoptera litura. Spodopsin la and Ib had the apparent molecular masses of 3, 823 Da and 3, 886 Da, respectively, and about 20% of the sequences had basic amino acids, such as lysine and arginine but no cysteine. Also, spodopsin l was confirmed to be a new member of cecropin family having a similar amino acid sequence to cecropin of lepidopteran insects, such as Bombyx mori and Hyalophora cecropia. The purified spodopsin was active against gram-positive as well as gram-negative bacteria.